点云XYZ格式规范 [英] Point cloud XYZ format specification

问题描述

是否有点云的XYZ格式的正式规范？

我一直在搜索，我没有找到它。我已经看到，有一些文件的哪一行包含：

• 点坐标，（每点的XYZ）

  其他人包含坐标加颜色，（XYZRGB每个点）



• 还有其他人有一个Intensity参数。
  
  
  

  我需要考虑所有的可能性。

  
  不，关于点云的.xyz格式没有正式的规范。
  
  
  

  .xyz格式可以被认为是一种更通用的文件格式的一部分： ASCII点云。你可以考虑这个组的成员有很多其他的扩展名，如：<.asc>，.txt，.pts
  
  

  问题在于，规范的文件内容可能会根据创建者而有所不同。
  
  

  最合乎逻辑的是前3列始终表示X，Y，Z坐标，而其余列表示与该点相关的标量字段也许R，G，B值或Nx，Ny，Nz等）
  
  

  如果你想考虑所有的可能性，你不仅需要考虑可变数量的列，还有用于分隔每列的ASCII字符，以及在文件开始时可能存在的一个或多个标题行。

  
  
  

  最好的我知道的ASCII点云加载器包含在

  
  
  

  和链接到源代码。

  
  

  Is there an official specification for the XYZ format for point clouds?

  I've been searching all over and I didn't find it. I've seen that there are some files which line contains:

  • points coordinates, (X Y Z for each point )

  • others contain coordinates plus colors, (X Y Z R G B for each point )

  • there are even others that have an "Intensity" parameter.

  I need to consider all the possibilities.

  解决方案

  No, there is not an official specification about the .xyz format for point clouds.

  The .xyz format can be considered as part of a more general type of file formats: ASCII point cloud. You can consider members of this group many other extensions like: .asc,.txt,.pts

  The problem is that because of that lack of specification the contents of the file may vary according to the creator.

  The most logical thing would be that the first 3 columns always represent the X,Y,Z coordinates and the rest of the columns represent some scalar field associated to that point (Maybe R,G,B values, or Nx,Ny,Nz, etc)

  If you want to consider all the possibilities you would need to take in account not only a variable number of columns but also the ASCII character used for separating each column and the possible existence of 1 or more "header" lines at the beggining of the file.

  The best ASCII point cloud loader that I'm aware of is the included in CloudCompare.

  Here is a screenshot of the dialog:

  And a link to the source code.

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