title: Is there a specification for the PCD file format?
body: <p>Is there an official specification for the <em>point cloud data</em> (PCD) format? Or is it rather only intended for PCL-internal use? The only information I found about it is <a href="http://pointclouds.org/documentation/tutorials/pcd_file_format.php" rel="nofollow noreferrer">this</a> which kind of looks like a specification, but it doesn't contain all the information needed.</p>
  
  <p>I might want to write a PCD loader library (independent of PCL), but maybe this is discouraged? </p>