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https://github.com/ANYbotics/point_cloud_io
ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).
https://github.com/ANYbotics/point_cloud_io
Last synced: 3 months ago
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ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).
- Host: GitHub
- URL: https://github.com/ANYbotics/point_cloud_io
- Owner: ANYbotics
- License: bsd-3-clause
- Created: 2014-08-07T14:55:23.000Z (over 10 years ago)
- Default Branch: master
- Last Pushed: 2024-07-08T14:39:39.000Z (4 months ago)
- Last Synced: 2024-07-08T18:26:06.697Z (4 months ago)
- Language: C++
- Homepage:
- Size: 389 KB
- Stars: 182
- Watchers: 35
- Forks: 70
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotic-tooling - point_cloud_io - ROS nodes to read and write point clouds from and to files (e.g. ply, vtk). (Sensor Processing / Point Cloud Processing)
- awesome-robotic-tooling - point_cloud_io - ROS nodes to read and write point clouds from and to files (e.g. ply, vtk). (Sensor Processing / Lidar and Point Cloud Processing)
README
Point Cloud IO
======================
Overview
---------------
These 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).
For 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.
This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
**Author: Péter Fankhauser, Remo Diethelm
Affiliation: [ANYbotics](https://www.anybotics.com/)
Maintainer: Remo Diethelm, [email protected]
**
This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab).
[This work is conducted as part of ANYmal Research, a community to advance legged robotics.](https://www.anymal-research.org/)
The source code is released under a [BSD 3-Clause license](LICENSE).
Installation
------------
### Dependencies
This 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:
- [Point Cloud Library (PCL)](http://pointclouds.org/).
### Building
In order to build Point Cloud IO, clone the latest version from this repository into your catkin workspace and compile the package using ROS.
cd ~/catkin_workspace/src
git clone https://github.com/anybotics/point_cloud_io.git
cd ../
catkin build point_cloud_io
Note: 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.
Usage
------------
To create your own launch-file, you can use the examples from `point_cloud_io/launch/...`.
### Read
Load and publish a ply or vtk file with
rosrun point_cloud_io read _file_path:=/home/user/my_point_cloud.ply _topic:=/my_topic _frame:=/sensor_frame
Optionally, you can also add `_rate:=1.0` to have the node publish your point cloud at the specified rate.
### Write
Subscribe and save point clouds to a ply file with
rosrun point_cloud_io write _topic:=/your_topic _folder_path:=/home/user/my_point_clouds
Optionally, you can set parameters to fit the point cloud file names to your needs:
- `_file_prefix:=my_prefix` (default: "point_cloud")
- `_file_ending:=my_ending` (default: "ply", currently only format which is supported for writing)
- `_add_counter_to_path:=false` (default: `true`)
- `_add_frame_id_to_path:=true` (default: `false`)
- `_add_stamp_sec_to_path:=true` (default: `false`)
- `_add_stamp_nsec_to_path:=true` (default: `false`)
Bugs & Feature Requests
------------
Please report bugs and request features using the [Issue Tracker](https://github.com/anybotics/point_cloud_io/issues).
[ROS]: http://www.ros.org
[rviz]: http://wiki.ros.org/rviz
[sensor_msgs/PointCloud2]: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html