<div dir="ltr"><div>Hi Shukhrat,</div><div><br></div><div>1) Many PCL algorithms are now implemented natively in PDAL, eliminating the need to convert to PCD.</div><div>2) PDAL shifts points to use the minimum x/y/z of the original pointcloud as the origin.  This is done because the standard point types in PCL are single-precision, while PDAL stores point data in double-precision.  Without such a shift, significant and important precision would be lost for some applications.  You can use the offset in the PCD writer to control this behavior (provide the X/Y/Z minimum as the offset to get back to the original locations).  You can also provide a scale factor to apply if desired.</div><div>3) PCD has no concept of spatial reference.</div><div><br></div></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Tue, Jul 16, 2019 at 10:32 PM Shukhrat <<a href="mailto:shukhrat811@gmail.com" target="_blank">shukhrat811@gmail.com</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div dir="ltr"><p style="margin:0px 0px 1em;padding:0px;border:0px;font-variant-numeric:inherit;font-variant-east-asian:inherit;font-stretch:inherit;line-height:inherit;font-family:Arial,"Helvetica Neue",Helvetica,sans-serif;font-size:15px;vertical-align:baseline;box-sizing:inherit;clear:both;color:rgb(36,39,41);background-color:rgb(249,248,246)">Hello,</p><p style="margin:0px 0px 1em;padding:0px;border:0px;font-variant-numeric:inherit;font-variant-east-asian:inherit;font-stretch:inherit;line-height:inherit;font-family:Arial,"Helvetica Neue",Helvetica,sans-serif;font-size:15px;vertical-align:baseline;box-sizing:inherit;clear:both;color:rgb(36,39,41);background-color:rgb(249,248,246)">I need to convert files from LAS format into PCD format. I tried <a href="https://gis.stackexchange.com/questions/250714/converting-las-to-pcd-file-using-pdal" style="font-family:inherit;font-style:inherit;font-variant:inherit;font-weight:inherit;margin:0px;padding:0px;border:0px;font-stretch:inherit;line-height:inherit;vertical-align:baseline;box-sizing:inherit;color:rgb(29,77,92)" target="_blank">PDAL</a>, but it doesn't preserve original coordinates in output file.<br></p><pre style="margin-top:0px;margin-bottom:1em;padding:12px 8px;border:0px;font-variant-numeric:inherit;font-variant-east-asian:inherit;font-stretch:inherit;line-height:inherit;font-family:Consolas,Menlo,Monaco,"Lucida Console","Liberation Mono","DejaVu Sans Mono","Bitstream Vera Sans Mono","Courier New",monospace,sans-serif;font-size:13px;vertical-align:baseline;box-sizing:inherit;width:auto;max-height:600px;overflow:auto;background-color:rgb(239,240,241);border-radius:3px;color:rgb(36,39,41)"><code style="margin:0px;padding:0px;border:0px;font-style:inherit;font-variant:inherit;font-weight:inherit;font-stretch:inherit;line-height:inherit;font-family:Consolas,Menlo,Monaco,"Lucida Console","Liberation Mono","DejaVu Sans Mono","Bitstream Vera Sans Mono","Courier New",monospace,sans-serif;vertical-align:baseline;box-sizing:inherit;white-space:inherit">pdal translate input.las output.pcd
</code></pre><p style="margin:0px 0px 1em;padding:0px;border:0px;font-variant-numeric:inherit;font-variant-east-asian:inherit;font-stretch:inherit;line-height:inherit;font-family:Arial,"Helvetica Neue",Helvetica,sans-serif;font-size:15px;vertical-align:baseline;box-sizing:inherit;clear:both;color:rgb(36,39,41);background-color:rgb(249,248,246)">It changes coordinates from original (EPSG:28355) into some local coordinates. Can someone help me to work around so I could get original coordinates in output PCD file?</p><div><div dir="ltr" class="gmail-m_6964598354697529788gmail-m_2576083026732698157gmail_signature"><div dir="ltr"><div><font color="#073763">Thanks,</font></div><div><font color="#073763"><br></font></div><div><font color="#073763">Best regards,</font></div><div><font color="#073763">Shukhrat</font></div></div></div></div></div>
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<a href="https://lists.osgeo.org/mailman/listinfo/pdal" rel="noreferrer" target="_blank">https://lists.osgeo.org/mailman/listinfo/pdal</a></blockquote></div><br clear="all"><div><br></div>-- <br><div dir="ltr" class="gmail-m_6964598354697529788gmail_signature">Andrew Bell<br><a href="mailto:andrew.bell.ia@gmail.com" target="_blank">andrew.bell.ia@gmail.com</a></div>