Supported file formats

Image

Following image file formats are supported: jpeg, png, bmp.

3D point cloud

PCD (Point Cloud Data)

Version 0.7 of the PCD format is supported. PCD files can either be ASCII-encoded or binary files. The PCD files should contain at least x, y, and z coordinate fields. Optionally, you can supply an intensity or an RGB field. These fields are used for setting the color of the points. Intensity coloring can be enabled or disabled in the viewer.

Any other fields will be ignored.

Field name
Size (#bytes)
Type
Required

x

4

float

y

4

float

z

4

float

intensity

4

float

rgb

4

float

Binary xyzi(r) (KITTI/nuScenes)

Segments.ai supports the binary point cloud formats used by the KITTI and nuScenes datasets. These formats do not contain a header and have a fixed number of fields. When uploading a sample with point clouds in one of these formats, use binary-xyzi (alias kitti) or binary-xyzir (alias nuscenes) for the type field.

Field name
Size (#bytes)
Type
Required

x

4

float

y

4

float

z

4

float

intensity

4

float

ring index

4

float

PLY (Stanford Triangle Format)

The PLY file format can be used for point clouds by encoding the points as vertices. The PLY header should thus contain a vertex element containing x, y, and z properties and optionally also color or intensity properties. Both binary and ASCII PLY files are supported.

Property name
Type
Required

x

float32

y

float32

z

float32

red

uchar [0, 255]

green

uchar [0, 255]

blue

uchar [0, 255]

intensity

float32

LAS

Version 1.4 of the LAS file format is supported. Only uncompressed LAS files are currently supported.

Point clouds can optionally include RGB fields, or an intensity field. If both are defined, the intensity will be discarded.

  • For point clouds with RGB colors, make sure to set the point format field to 2.

  • For point clouds with intensity values, make sure to set the point format field to 0.

Keep in mind to set the LAS scale/resolution small enough (e.g. 1e-6) to avoid discretization errors.

Property name
Type
Required

X

float32

Y

float32

Z

float32

Red

uint8 [0-255]

Green

uint8 [0-255]

Blue

uint8 [0-255]

Intensity

uint8 [0-255]

Gaussian Splat

.splat

Gaussian splats can only be uploaded as .splat files at the moment. PLY splat files are not supported. If you want to convert your splat file from PLY to .splat, you can either use SuperSplat, an online splat editor, or the open-source point-cloud-tool library.

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