PCD format -- support for scaling/offsets?

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PCD format -- support for scaling/offsets?

jgrn307
We're trying to work towards a more usable las to pcd conversion for some
work we're doing, and one thing we are running into are overflow errors we
THINK are being caused by the particular coordinate system and data
precision we're using (large numbers from CA Teale Albers, and TLS data that
needs submillimeter precision).  Does the PCD format support rescaling
factors and modified offsets to help with this?  If so, how do I a) extract
that info using liblas, and b) write that to an output pcd file?  Cheers!  



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Re: PCD format -- support for scaling/offsets?

jgrn307
Quick follow-up, we're also seeing rounding errors when exporting the ASCII
(binary exports are causing problems on our system due to the moody reliance
on mmap).

Source LAS:
649262.5410 4380189.0083 744.2805
649262.5605 4380188.7970 744.3078
649262.4925 4380188.8458 744.2975
649262.5375 4380188.7888 744.3030
649262.5045 4380188.7988 744.3008
649262.5033 4380188.7190 744.2833
649262.6377 4380188.5228 744.3833
649262.6242 4380188.5223 744.3745
649262.6090 4380188.5723 744.3930
649262.6173 4380188.5445 744.3845

PCD:
649262.56 4380189 744.28052
649262.56 4380189 744.3078
649262.5 4380189 744.29749
649262.56 4380189 744.30298
649262.5 4380189 744.30078
649262.5 4380188.5 744.28333
649262.62 4380188.5 744.3833
649262.62 4380188.5 744.37451
649262.62 4380188.5 744.39301

Is there some way to correct for this?  Here's the code we're using:
https://github.com/gearslaboratory/las2pcd/blob/treeseg_fix/las2pcd.cpp

--j



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