Save assembled laser scan cloud

asked 2022-05-26 05:15:15 -0500

garethbyers gravatar image

I am trying to save a cloud created from a lidar scanner that has been converted into a pointcloud. When visualised and recorded it is a complete cloud but when I convert the messages to PCD and concatenate them using the PCL tools they all squash together without any transformation and just overlap from the same perspective. Is there something I am missing? Any help is appreciated

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Can you add a code snippet where you do this? It will then be easier for everyone to check

ljaniec gravatar image ljaniec  ( 2022-05-26 07:12:01 -0500 )edit

What part of it? I use direct readings from the sensor to generate the cloud in rviz and the rosbag record command to save the messages on the topic I can share the commands I have used throughout if that is helpful

garethbyers gravatar image garethbyers  ( 2022-05-26 07:15:33 -0500 )edit

You mentioned using PCL tools, I thought that was done with a script. Those commands might be helpful too, along with rosbag and a clearer description of what "overlap from the same perspective" means

ljaniec gravatar image ljaniec  ( 2022-05-26 09:08:17 -0500 )edit

I used the rosbag record -O PointCloud2 /"name of pointcloud topic" to record all of the messages I used the "rosrun pcl_ros bag_to_pcd PointCloud2.bag /"name of pointcloud topic" ./target" to convert the messages into PCD files in the ./target location Then I used "pcl_concatenate_points_pcd " command to concatenate the PCD files by "overlap from the same perspective" I mean that none of the location, transform or orientation of the scans is taken into account when I try to rebuild the cloud so all of the points just layer on top of each other in 2D Any help on building the cloud correctly would be greatly appreciated

garethbyers gravatar image garethbyers  ( 2022-05-26 09:17:53 -0500 )edit