bag to pcd
- usage:
rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>
- example:
rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds
pcd_to_pointcloud
- usage
rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]
- example1:
Publish the contents of point_cloud_file.pcd once in the /base_link frame of reference.
rosrun pcl_ros pcd_to_pointcloud point_cloud_file.pcd
- example2:
Publish the contents of cloud_file.pcd approximately ten times a second in the /odom frame of reference.
rosrun pcl_ros pcd_to_pointcloud cloud_file.pcd 0.1 _frame_id:=/odom
pointcloud_to_pcd
- usage
rosrun pcl_ros pointcloud_to_pcd input:=<cloud_topic> <option>
- example1:
Subscribe to the /velodyne/pointcloud2 topic and save each message in the current directory. File names look like 1285627014.833100319.pcd, the exact names depending on the message time stamps.
rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2
- example2:
Set the prefix parameter in the current namespace, save messages to files with names like /tmp/pcd/vel_1285627015.132700443.pcd.
rosrun pcl_ros pointcloud_to_pcd input:=/my_cloud _prefix:=/tmp/pcd/vel_