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how to save a point cloud?

asked 2011-11-06 18:34:17 -0500

liquidmonkey
37 ●10 ●11 ●13

i'm starting my first ros project :) i have rviz up with a point cloud from a sensor. how do i save that point cloud for offline testing? i'd like to save just one frame as well as 10 minutes worth.

how can i do that?

thanks!

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answered 2011-11-06 19:00:31 -0500

roehling
1951 ●25 ●28 ●43 http://www.fkie.fraunhofer.de/

Take a look at the following documentation pages:

rosbag can record and play ROS topics. This is the best way to record data if you want to emulate the live system behavior and/or avoid extra code to deal with file I/O.
You can also read and write point clouds from/to PCD files.

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looks great, thank you! is it possible to convert a bag file into a pcd file for viewing of the point cloud? or will rosbag play take care of that?

liquidmonkey ( 2011-11-06 19:58:20 -0500 )edit

"rosbag play" publishes the recorded ROS topic, so you can visualize it pretty much the same way as if the data were live. There is also a tool bag_to_pcd in the pcl_ros package. It's your choice.

roehling ( 2011-11-06 21:28:47 -0500 )edit

bag_to_pcd is exactly what i'm looking for, thanks!

liquidmonkey ( 2011-11-07 01:39:51 -0500 )edit

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Asked: 2011-11-06 18:34:17 -0500

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Last updated: Nov 06 '11

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