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pcd-format is a js lib to encode 3D Point Cloud to ArrayBuffer or decode from ArrayBuffer. PCD File Format C++ PCD IO
Install
npm install pcd-format --save
or
yarn add pcd-format
Usage
const fs = require('fs');
const PCDFormat = require('pcd-format');
// Read & Parse
let dataBuffer = fs.readFileSync(path);
let pcd = PCDFormat.parse(dataBuffer.buffer, false)
console.log("Header:")
console.log(pcd.header)
console.log("Points Size:")
console.log(pcd.points.length)
console.log("First Point:")
console.log(pcd.points[0])
console.log("Last Point:")
console.log(pcd.points[pcd.points.length - 1])
// Stringify & Save
let arrayBuffer = PCDFormat.stringify(pcd.header, pcd.points, false)
fs.writeFileSync(path, Buffer.from(arrayBuffer));