Input and Output Tutorials

The PCD (Point Cloud Data) file format

This document describes the PCD file format, and the way it is used inside PCL.

Reading Point Cloud data from PCD files

In this tutorial, we will learn how to read a Point Cloud from a PCD file.

Writing Point Cloud data to PCD files

In this tutorial, we will learn how to write a Point Cloud to a PCD file.

Concatenate the points of two Point Clouds

In this tutorial, we will learn how to concatenate both the fields and the point data of two Point Clouds. When concatenating fields, one PointClouds contains only XYZ data, and the other contains Surface Normal information.

The OpenNI Grabber Framework in PCL

In this tutorial, we will learn how to acquire point cloud data from an OpenNI camera.

The Velodyne High Definition LiDAR (HDL) Grabber

In this tutorial, we will learn how to acquire point cloud data from a Velodyne HDL.

The PCL Dinast Grabber Framework

In this tutorial, we will learn how to acquire point cloud data from a Dinast camera.

Grabbing point clouds from Ensenso cameras

In this tutorial, we will learn how to acquire point cloud data from an IDS-Imaging Ensenso camera.

Grabbing point clouds / meshes from davidSDK scanners

In this tutorial, we will learn how to acquire point cloud or mesh data from a davidSDK scanner.

Grabbing point clouds from DepthSense cameras

In this tutorial we will learn how to setup and use DepthSense cameras within PCL on both Linux and Windows platforms.