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when i try to convert bag file using the following command to pcd file then i get multiple pcd files. is this correct ? How can i obtain single pcd file from a bag file.
rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>
The bag_to_pcd file will use the topic that you choose as input, and turn each sensor_msgs/PointCloud2 message on that topic into it's own PCD file.
If you want a single PCD file, you need to use a tool like the point_cloud_assembler ( http://wiki.ros.org/laser_assembler ) to concatenate all of the clouds together into a single cloud. You can then use the bag_to_pcd tool to save that new single cloud.
I do not understand your question, you want to obtain 1 big pointcloud containing every pointcloud in the rosbag? If that is what you want you can simply add the pointclouds.
rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>
That will get every single topic that the rosbag would publish and save it in the directory you want.
How does you answer explain anything ? You just repeated the question back again
rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>
Outputs many .pcd files out of a .bag file and OP wants to have a single output that accumulates all the .pcd's into a single one.
"You can simply add the pointclouds." oh thank you for explaining how to do this as well...
You can use subprocess in python to run these as standalone linux commands or run this node pcl_ros like standard nodes of ROS.
Asked: 2016-05-24 00:43:02 -0500
Seen: 15,199 times
Last updated: Oct 04 '16
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can this node be used to convert to point cloud data directly from the "scan" topic which is in laser reading format or does the topic need to be a point cloud data publishing topic ?