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saving depth image into pcd

asked 2011-05-19 20:59:17 -0500

kang gravatar image

updated 2016-10-24 08:59:00 -0500

ngrennan gravatar image


I would like to save the depth images into pcd format files which I viewed in rviz through openni_kinect. Can someone gives some clues? Thanks

Best, Kang

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answered 2011-05-19 22:22:56 -0500

pbrook gravatar image

Hey Kang,

There is a PCL tutorial on writing point cloud data to PCD files available here. Additionally, there is a simple tool called pointcloud_to_pcd which does this and is located in the pcl_ros folder. You would run something along the lines of:

rosrun pcl_ros pointcloud_to_pcd input:=/camera/depth/points2

if your depth data was being published on /camera/depth/points2. The node would then write a PCD file for each message it received.

Hope this helps,


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Thanks Peter, I did not notice that we should mention the input. Now, it works.
kang gravatar image kang  ( 2011-05-20 00:29:32 -0500 )edit

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Asked: 2011-05-19 20:59:17 -0500

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Last updated: May 19 '11