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Binary File Format Structure

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mika edited this page Jul 27, 2017 · 31 revisions

Normal .bin data (not brekel format)

EXAMPLE

01 B5 E5 26 00 01 30 4C
2A 40 57 5B D9 3F 7D 3F
9D 3F 00 00 80 3F 00 00
80 3F 00 00 80 3F AA 82
69 40 DC 46 13 40 1E A7
C8 3F FC FB 7B 3F F8 F7

HEADER

  • byte version (0 or 1 for normal point cloud data, 0 is the original first version, use 1 for now)
  • int32 totalPoints (total amount of points in this file
  • bool containsRGB (true or false, if RGB data is included

DATA

  • float x
  • float y
  • float z
  • float R (optional)
  • float G (optional)
  • float B (optional)
  • (repeat for all points)

BREKEL OUTPUT .BIN FORMAT

HEADER

  • byte version (2 for brekel data)
  • int32 numberOfFrames (how many frames of data)
  • int32 frameRate (not used)
  • bool containsRGB (true or false, if RGB data is included)
  • int32[] pointsPerFrame (array of how many points for each frame)
  • int64[] binaryPositionForEachFrame (array of indexes to each frame data position in file)

DATA

  • float x
  • float y
  • float z
  • float R (optional)
  • float G (optional)
  • float B (optional)
  • (repeat for all points for each frame)

TOOLS

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