pcdLib Reference

Module defined in lua/common/tech/pcdLib.lua. Creates PCD (Point Cloud Data) files - the standard format for lidar, radar, and other point cloud sensor data.

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Exports

Functions

M.newPcd()

Create a new PCD file writer instance.

• Returns: Pcd - A new point cloud data object

Pcd Object Methods

pcd:addField(name, size, type)

Add a field definition to the point cloud schema.

• Parameters:
  • name - string - Field name (e.g., "x", "y", "z", "intensity")
  • size - number - Byte size per element (1, 2, 4, 8)
  • type - string - Data type: "F" (float), "U" (unsigned), "I" (signed)

pcd:setViewpoint(pos, rotQuat)

Set the sensor viewpoint for this cloud.

• Parameters:
  • pos - vec3 - Sensor position
  • rotQuat - quat - Sensor rotation quaternion

pcd:setData(data, bytes)

Set the raw binary payload data.

• Parameters:
  • data - cdata/string - Raw point data
  • bytes - number - Byte length

pcd:save(filename)

Write the PCD file to disk (header + binary payload).

• Parameters:
  • filename - string - Output file path
• Returns: boolean|nil - false on error

pcd:writeHeader(file)

Write only the PCD header to an open file handle.

• Parameters:
  • file - file - Open file handle

Internal Notes

• PCD version 0.7 format
• Binary data mode (not ASCII)
• Point count auto-calculated from payload size / point size
• Height always 1 (unorganized dataset)
• Uses string.buffer for efficient binary payload accumulation