The default viewpoint of pcd is
0,0,0,1,0,0,0 and the iewpoint will change after cloudcompare processing, and the viewpoint of each point cloud is different, which will cause the point cloud registration to fail.
Aiming at the pcd format point cloud processed by CloudCompare software, the final display result has a large deviation of the point cloud position in the experiment using PCL for feature point extraction and registration. This blog provides a solution.
The pcd format point cloud data processed by PCL, the default viewpoint is: VIEWPOINT 0 0 0 1 0 0 0 The pcd format point cloud data processed by CloudCompare software, the saved viewpoint is: VIEWPOINT 0 0 0 0.707107 -0.707107 0 0 The position of the point cloud will change when using PCL display. When the point cloud is marked with a three-dimensional frame, the position of the frame does not match the position of the point cloud. Therefore, changing the viewpoint of the pcd format point cloud data processed by CloudCompare software to: VIEWPOINT 0 0 0 1 0 0 0 can solve the problem of inconsistent positions.
Method 1:
Save the pcd format point cloud processed by CloudCompare software as las format, and then save the las format point cloud as pcd format.
Method 2:
Load the point cloud with PCL -> save it as an ASCII point cloud -> open the pcd file in Notepad -> change the value of VIEWPOINT to 0 0 0 1 0 0 0.
Method one is simple and easy to implement without error. Method one is recommended.