将 csv 文件转换为 pointCloud 类型

Question

I have a csv file for lidar data which contains the x, y, and z coordinates and the intensity like below:_

XCoord,YCoord,ZCoord,Intensity
-5436.108,-284.450,-13.281,33.0
-5436.786,-275.718,-15.141,33.0
-5302.184,-197.274,-0.927,34.0
-5308.833,-183.659,-2.696,33.0
-5309.803,-182.008,-4.463,34.0
-5320.611,-159.565,-5.858,34.0
-5323.79052,-153.348,-7.403,33.0
...............................................................

How is it possilbe to convert it to point of cloud type object?

Answer 1

Since the question is tagged with MATLAB, I explain it in that platform: First, you need to load your input data matrix:

load('YourPointCloud.mat');

Then, use pcwrite function to save as *.pcd format:

pcwrite(ptCloud,'object3d.pcd','Encoding','ascii');

To try your result, you can load the saved file with:

pc = pcread('object3d.pcd');

Finally, visualise it with:

pcshow(pc);