{"id":20406276,"url":"https://github.com/anybotics/point_cloud_io","last_synced_at":"2025-04-06T13:10:06.565Z","repository":{"id":19479641,"uuid":"22725220","full_name":"ANYbotics/point_cloud_io","owner":"ANYbotics","description":"ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).","archived":false,"fork":false,"pushed_at":"2024-08-23T20:37:32.000Z","size":399,"stargazers_count":188,"open_issues_count":0,"forks_count":69,"subscribers_count":37,"default_branch":"master","last_synced_at":"2025-03-30T11:07:07.651Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ANYbotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2014-08-07T14:55:23.000Z","updated_at":"2025-01-16T13:43:56.000Z","dependencies_parsed_at":"2024-01-20T18:57:36.008Z","dependency_job_id":"fa174da9-996b-412d-82cc-2e8136aaa578","html_url":"https://github.com/ANYbotics/point_cloud_io","commit_stats":null,"previous_names":[],"tags_count":2,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fpoint_cloud_io","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fpoint_cloud_io/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fpoint_cloud_io/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fpoint_cloud_io/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ANYbotics","download_url":"https://codeload.github.com/ANYbotics/point_cloud_io/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247485287,"owners_count":20946398,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-15T05:16:11.744Z","updated_at":"2025-04-06T13:10:06.538Z","avatar_url":"https://github.com/ANYbotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"Point Cloud IO\n======================\n\nOverview\n---------------\n\nThese are two simple [ROS] point cloud helper nodes. **_read_** reads a point cloud from file (ply or vtk) and publishes it as a [sensor_msgs/PointCloud2] message. **_write_** subscribes to a [sensor_msgs/PointCloud2] topic and writes received messages to seperate files (ply, pcd).\n\nFor visualization, make sure to set the **Decay Time** in the **PointCloud2** tab in [rviz] to a high number to get the point cloud visible for a long time.\n\nThis is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.\n\n**Author: Péter Fankhauser, Remo Diethelm\u003cbr /\u003e\nAffiliation: [ANYbotics](https://www.anybotics.com/)\u003cbr /\u003e\nMaintainer: Remo Diethelm, rdiethelm@anybotics.com\u003cbr /\u003e**\n\nThis projected was initially developed at ETH Zurich (Autonomous Systems Lab \u0026 Robotic Systems Lab).\n\n[This work is conducted as part of ANYmal Research, a community to advance legged robotics.](https://www.anymal-research.org/)\n\nThe source code is released under a [BSD 3-Clause license](LICENSE).\n\nInstallation\n------------\n\n### Dependencies\n\nThis software is built on the Robot Operating System ([ROS]), which needs to be [installed](http://wiki.ros.org) first. Additionaly, the it depends on following software:\n\n- [Point Cloud Library (PCL)](http://pointclouds.org/).\n\n\n### Building\n\nIn order to build Point Cloud IO, clone the latest version from this repository into your catkin workspace and compile the package using ROS.\n\n    cd ~/catkin_workspace/src\n    git clone https://github.com/anybotics/point_cloud_io.git\n    cd ../\n    catkin build point_cloud_io\n\nNote: building the tool with support for the VTK file format is disabled by default. To enable it, run `catkin build point_cloud_io --cmake-args -DBUILD_WITH_VTK_SUPPORT=True` instead.\n\nUsage\n------------\n\nTo create your own launch-file, you can use the examples from `point_cloud_io/launch/...`.\n\n\n### Read\n\nLoad and publish a ply or vtk file with\n\n    rosrun point_cloud_io read _file_path:=/home/user/my_point_cloud.ply _topic:=/my_topic _frame:=/sensor_frame\n\nOptionally, you can also add `_rate:=1.0` to have the node publish your point cloud at the specified rate.\n\n\n### Write\n\nSubscribe and save point clouds to a ply file with\n\n    rosrun point_cloud_io write _topic:=/your_topic _folder_path:=/home/user/my_point_clouds\n\nOptionally, you can set parameters to fit the point cloud file names to your needs:\n\n- `_file_prefix:=my_prefix` (default: \"point_cloud\")\n- `_file_ending:=my_ending` (default: \"ply\", currently only format which is supported for writing)\n- `_add_counter_to_path:=false` (default: `true`)\n- `_add_frame_id_to_path:=true` (default: `false`)\n- `_add_stamp_sec_to_path:=true` (default: `false`)\n- `_add_stamp_nsec_to_path:=true` (default: `false`)\n\n\nBugs \u0026 Feature Requests\n------------\n\nPlease report bugs and request features using the [Issue Tracker](https://github.com/anybotics/point_cloud_io/issues).\n\n\n[ROS]: http://www.ros.org\n[rviz]: http://wiki.ros.org/rviz\n[sensor_msgs/PointCloud2]: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanybotics%2Fpoint_cloud_io","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fanybotics%2Fpoint_cloud_io","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanybotics%2Fpoint_cloud_io/lists"}