Read Point Cloud

Function Description

Reads locally stored point cloud files.

Use Cases

General-purpose point cloud reading step, used to read locally stored point cloud files from a specified path.

Inputs

  • None.

Outputs

  • Point Cloud with Normals: Point cloud data read from local. The point cloud output type is determined by the “Point Cloud Format” setting in parameters. Supports three types: PointXYZ, PointXYZNormal, and PointXYZRGB.

Parameters

  • Point Cloud Source

    Selects the source method for point cloud data. Currently only supports reading from file.

  • File Name

    Selects the file path of the point cloud to be read.

  • File Format

    File format of the point cloud to be read. Currently only supports PCD format.

  • Point Cloud Type

    Selects the type of output point cloud.

    • PointXYZ: Contains only point position coordinates (X,Y,Z).

    • PointXYZNormal: Contains point position coordinates and normal information.

    • PointXYZRGB: Contains point position coordinates and color information.