# PCD files not displaying correctly

I'm working on a project that has a lot of ROS bags with Velodyne data. I converted the ROS bags to PCD files with:

\$ rosrun pcl_ros bag_to_pcd <bag name> /velodyne/velodyne_points <output dir>


However, when I try to annotate these .pcd files using point cloud annotation tools, the point cloud always seems to align the points with the XYZ axes. I'm including an image below of what this looks like below.

I was able to find a PCD file that displayed correctly and its header was the following:

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z rgba label
SIZE 4 4 4 4 4
TYPE F F F U U
COUNT 1 1 1 1 1
WIDTH 268
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 268
DATA binary


The header of my PCD file is the following:

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z _ intensity ring _
SIZE 4 4 4 1 4 2 1
TYPE F F F U F U U
COUNT 1 1 1 4 1 1 10
WIDTH 330
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 330
DATA binary


I would appreciate any insight into why this is happening. My best guess was that the first _ (side note - what does this even mean?) and intensity columns were being interpreted as rgba and label, but I'm not sure. Is it possible to convert between these two types of PCD files?

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