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Kinect point cloud to pcd files

asked 2012-11-02 06:41:08 -0500

Antonio gravatar image

updated 2016-10-24 09:01:13 -0500

ngrennan gravatar image

Hi, I'm using the openni_launch stack to gather data from the kinect sensor. I'm currently able to visualize the points cloud with rviz. I need to save each incoming frame as a .pcd file for data processing, is there a easy way to do so with ROS?


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answered 2012-11-02 07:57:25 -0500

updated 2012-11-04 03:35:18 -0500

Use pointcloud_to_pcd stated in pcl_ros.

You're able to visualize the points cloud with rviz, so I assumed that you know which topic is transmitting the pointcloud you need.

You can store the pointcloud to a pcd file by simply running

rosrun pcl_ros pointcloud_to_pcd input:=<your target topic name>

If the data in "your target topic name" is valid pointcloud data, this executable will automatically save the pointcloud to a pcd file.

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Thank you so much, this is exactly what I need!

Antonio gravatar image Antonio  ( 2012-11-05 21:08:03 -0500 )edit

Welcome: )

Po-Jen Lai gravatar image Po-Jen Lai  ( 2012-11-06 02:02:16 -0500 )edit

Will this still work with ROS Hydro?

Athoesen gravatar image Athoesen  ( 2014-05-20 09:54:03 -0500 )edit

I am not sure~You can give it a try: )

Po-Jen Lai gravatar image Po-Jen Lai  ( 2014-07-02 01:01:43 -0500 )edit

I did that but the cloud is saved upside down because orientation in rviz how can i fix this

dmngu9 gravatar image dmngu9  ( 2015-04-07 22:13:27 -0500 )edit

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Asked: 2012-11-02 06:41:08 -0500

Seen: 2,242 times

Last updated: Nov 04 '12