Describe pcl/PCD_file_format here.

• FIELDS - describes what fields we have in the PCD file (columns, dimensions, etc)
• SIZE - describes the size of each field in bytes (4 = 4 bytes, etc)
• TYPE - F = float, I = signed, U = unsigned
• COUNT - number of elements in each field... example x = 1, y = 1, z = 1 (we have 1 element of type F of size 4 usually), but a histogram/3D feature might have more elements, like FPFH = 33 elements, each float, size 4 , etc
• WIDTH / HEIGHT = if the data is coming from an organized sensor device (stereo camera has width x height disparity and point cloud, with 1-1 correspondences to the image data, TOF has the same, etc), then Width x Height = number of points. If the data is unorganized, then Width = number of points, and Height = 1
• POINTS - number of points
• DATA - ascii/binary