为什么只能打开给的示例PCD，自己的PCD文件格式打不开，急求告知！！谢谢

[A-Chas]

Why can I only open the sample PCD given, but my PCD file format cannot be opened, please let me know! ! Thank you

[halostorm]

应该是pcd field不匹配：https://github.com/halostorm/PCAT_open_source/blob/master/src/rviz_cloud_annotation/launch/annotation.launch#L4 建议自己适配读取pcd代码的接口，改动这里： https://github.com/halostorm/PCAT_open_source/blob/master/src/rviz_cloud_annotation/src/rviz_cloud_annotation_class.cpp#L594