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How to read a point cloud (.pcd) file and send it to a rosbag

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Hello, I just started using the Point Cloud Library. I followed some initial tutorial [here](http://pointclouds.org/documentation/tutorials/reading_pcd.php) on how to use it. I am trying to send a `point cloud` file `.pcd` into a `rosbag`. I would like the `rosbag` to receive both the `ascii` and the `binary` files. I know that the `point cloud library` has the useful function `pcl::io::loadPCDFile` that I implemented on the following example (see below the snippet of code). However I am not sure how to go back to a new line to read the file and make the `rosbag` understand that. My idea was to create a `void nextLine()` function that does that. But I stopped because I realized that for doing that I will have to write a `.pcd` parser from scratch according to the [structure](http://pointclouds.org/documentation/tutorials/pcd_file_format.php) of the point cloud file. I am not sure how to move on. Final goal would be able to read any `.pcd` file and send them to a `rosbag` --> `rosbag play example.bag` See below the snipped of code I am using: **pointcloud_reader_node.cpp** #include #include #include #include "../include/cloud.h" #include #include using namespace std; int main() { rosbag::Bag bag; bag.open("test.bag", rosbag::bagmode::Write); std::string fstring = "/home/to/Desktop/file.pcd"; Cloud p; p.readPCloud(fstring); // while()) // { // bag.write("point_cloud/data", p.pCloud2Msg.header.stamp , p.pCloud2Msg); // } return 0; } **cloud.h** #include "cloud.h" #ifndef CLOUD_H #define CLOUD_H #include #include #include #include #include class Cloud { public: void readPCloud(std::string filename); sensor_msgs::PointCloud2 pCloud2Msg; void nextLine(); private: unsigned int msgPointCloud; void packPointCloudMsg(); std::string path; }; #endif// CLOUD_H **cloud.cpp** #include "cloud.h" void Cloud::readPCloud(std::string filename) { pcl::PointCloud::Ptr cloud(new pcl::PointCloud); if(pcl::io::loadPCDFile (filename, *cloud) == -1) // load point cloud file { PCL_ERROR("Could not read the file"); return; } std::cout<<"Loaded"<width * cloud->height<<"data points from /home/to/Desktop/file.pcd with the following fields: "<points.size(); ++i) std::cout << " " << cloud->points[i].x<< " " << cloud->points[i].y<< " " << cloud->points[i].z << std::endl; } void Cloud::nextLine() { } void Cloud::packPointCloudMsg() { ros::Time time = ros::Time::now(); pCloud2Msg.header.stamp = time; pCloud2Msg.header.frame_id = "point_cloud"; pCloud2Msg.header.seq = msgPointCloud; pCloud2Msg.height = 1; pCloud2Msg.width = 5; pCloud2Msg.is_bigendian = false; pCloud2Msg.is_dense = false; } Thank you very much for pointing in the right direction or providing some example if anyone has ever had this problem before.

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