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bag file to pcd files

asked 2016-05-24 00:43:02 -0600

noman gravatar image

updated 2016-05-24 02:01:48 -0600

gvdhoorn gravatar image

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>
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answered 2016-10-04 08:28:40 -0600

mjcarroll gravatar image

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 ( ) 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.

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answered 2016-10-03 04:30:33 -0600

Kailegh gravatar image

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.

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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...

kaanoguzhan gravatar image kaanoguzhan  ( 2020-07-12 12:23:06 -0600 )edit

is there anyway to run this command: rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory> in python script rather than in terminal?

Farid gravatar image Farid  ( 2020-10-15 08:10:22 -0600 )edit

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Asked: 2016-05-24 00:43:02 -0600

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Last updated: Oct 04 '16