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Dust,

I don't really know the details of pcd export but can't you decide the format you want to use (binary or acsii)?

Did you create your pcd file by in the same way as in this tutorial? That way, you could save the pcd file directly inside RGBD-SLAM and not use a bag file. This should give you a better control on the pcd file you create.

Also have a look inside pcl/io, you will find the functions used to write pcd files from point clouds.

Raph

Dust,

I don't really know the details of pcd export but can't you decide the format you want to use (binary or acsii)?

Did you create your pcd file by in the same way as in this tutorial? That way, you could save the pcd file directly inside RGBD-SLAM and not use a bag file. This should give you a better control on the pcd file you create.

Also have a look inside pcl/io, you will find the functions used to write pcd files from point clouds.clouds, maybe you can find how to force ascii mode.

Importing in Meshlab

I asked my colleague who actually used some point clouds I had generated with Kinect in Meshlab. All he did was:

• Edit the pcd file (remove header and extra columns)
• Change extension of the file to .asc

But as you said, you need a ascii format.

good luck :)

Raph