ASCII point cloud
bin binary
point cloud(s), binary
format specific to
CloudCompare
ply ascii/binary
mesh (Stanford)
obj ascii
mesh (Wavefront)
soi ascii
cloud(s) (Soisic,
Mensi)
(c)bin binary
cloud (C,
Hernandez)
pn binary
cloud (point +
normal)
pv, pcv binary
cloud/image
association
P : Points
M : Meshes
RGB: Colors (Red, Green, Blue)
LG : Levels of Grey
N : Normals
S : Scalars
2.7. Help Menu 61
A.1.2 Opening and Saving
A.1.3 Special Formats
A.1.3.1 ICM files
This type of file associates a point cloud with a VRML file the latter defines calibrated photos
(camera + image file).
Example:
file: toto.icm
#CC_ICM_FILE
FILENAME=pa4.asc
FILETYPE=ASC
IMAGES_DESCRIPTOR=photo_match.wrl
// Header
// Points file
// Type of points file
// VRML file describing the calibrated photos
Open Save
asc, txt, neu, xyz, etc.
bin
ply
obj
soi
(c)bin
pn
pv, pcv
icm
62 Chapter 2. Functions
file: photo_match.wrl
#VRML v2.0 utf8
DEF photo1.jpg Viewpoint{
fieldOfView 0.621379
position -10.5418 -15.6091 5.95961
description VANNE + PETIT TUYEAU
orientation 0.70724 -0.37292 -0.600618 3.74252
}
DEF photo2.jpg Viewpoint{
fieldOfView 0.621379
position -3.9782 -21.276 5.95616
description PORTE
orientation 0.572629 0.696275 -0.432778 2.02135
}
//Header photo #1
// FOV
//Optical Center
//Description
//View vector
//Header photo #2
//etc.
A VRML file like this can be generated quasi-automatically by a program such as RealWorks
(Mensi).
A.1.3.2 Depth Map Export file
An export, in ASCII, of the depth map associated with a sensor. It may be generated by the
function Sensor > Ground-based Lidar > Export depth buffer (section 2.2.15).
Example:
file: ground based laser scanner.txt
// CLOUDCOMPARE DEPTH MAP
// Associated cloud : Cloud #0
// dPhi = 0.005000 [ -0.383052 : 0.319331 ]
// dTheta = 0.005000 [ -1.626588 : 0.137948 ]
// pMax = 78823.398438
// L = 353
// H = 141
/////////////////////////
0.000000 0.000000 18132.496094
1.000000 0.000000 15145.963154
...
352.000000 140.000000 132135.321542
associated cloud name (as disp. in CC)
horizontal angular step
vertical angular step
max depth
number of horiz. pixels
number of vert. pixels
1st pixel coordinates (i,j) and depth (z)
2nd pixel coordinates (i,j) and depth (z)
L*H pixel coordinates (i,j) and depth (z)