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Point cloud Data analysis from ROS bag - Info required.

asked 2017-06-28 11:43:09 -0500

vrosuser gravatar image

I am asking for information on how to proceed. I am fairly new to ROS environment.

I have ROS bag recorded data with point cloud topics (x,y,z,velocity,intensity). I have to perform analysis on this data.

  • First I have to extract Only the point cloud topics from Rosbag. Any suggestions on how to achieve this ?

  • Second take the extracted point cloud topics and be able to either plot or graph (x,y,z,velocity,intensity). Any suggestion on which software/language/platform is best to achieve this. ?

Appreciate all the help I can get here.

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answered 2017-06-28 13:16:18 -0500

velveteenrobot gravatar image

Check out the rosbag Code APIs. This will allow you to isolate messages from specific topics from the rosbag.

You can use either C++ or Python to process your rosbags and point clouds. I'm not familiar with getting velocity or intensity data from PointCloud2 messages but in general I find that if you want more than x,y,z data from the point clouds then it's better to use C++. The Python API for accessing point clouds data is more limited. Check out the Point Cloud Library (PCL) for processing point clouds.

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Thank you in pointing me to right direction.

vrosuser gravatar image vrosuser  ( 2017-06-29 08:05:07 -0500 )edit

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Asked: 2017-06-28 11:43:09 -0500

Seen: 2,992 times

Last updated: Jun 28 '17