Load and visualize PCD file having XYZRGBAL points
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I'm currently struggling to load and visualize some pcd files (from the Jacobs University Dataset, see link below). It is actually working, but the displayed cloud looks weird, the geometry seems to be OK, but the colors are totally diffused. I initially tried to load the pcd file as PointXYZRGBL as proposed by the others, but this gives me the below shown weird results. I also tried only with PointXYZRGB, tried even parsing the whole file on my own and then insert each point as XYZRGB separately into the cloud, but all of that yield to having the same results, now I am really thinking if the files might be bad.