Save assembled laser scan cloud
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
Can you add a code snippet where you do this? It will then be easier for everyone to check
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
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
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