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How to obtain a depth of point cloud data, and save for PCD file

Time:11-13


Everybody is good, I just do photo research, itself is not to learn the computer, so it is very thin, I'd like to know how depth data accessed by the photo, and save, I stuck on the problem of time already for a long, long time, although on the BBS posts have discussed this question many times, but for no basis for me, still don't quite understand, hope to get you the detailed answer,
Very much hope to get everybody's help, really thank you very much
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