Re: .PLY file output

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/PLY-file-output-tp7642p7696.html

These are properties of each point: X Y Z RGB NormalX NormalY NormalZ Curvature.

The XYZ are in meters, it is the position of the 3D point. RGB is the color of the point. The normalXYZ is a unit vector. Surface curvature, not sure exactly it means, but given by pcl https://pointclouds.org (it would tell how much the surface is curvy or a plane).