Point Cloud

Dale5/11/25

What devices can be used to capture point clouds?

Stereographic or RGB-D cameras
Time-of-Flight (ToF) or Light Detection and Ranging (LiDAR) sensors

What formats can be used to store point clouds?

.bag: playback anything, originally for robot operating system (ROS).
.tiff: tagged image file format, store 2D image with depth.
.ply: polygon file format, store 3D data (x,y,z) with color.
.png: store in grayscale, pixel int value is the depth in mm.