Storing pointcloud from RVIZ

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Storing pointcloud from RVIZ

freekdebruijn
Hi all,

I've been doing some gmapping and superimposing the RGB pointcloud (from
kinect) on top of it. When I run gmapping and rviz I can see the map
being build and the pointcloud is right on the spot so I'm getting
really nice "3d maps" this way by setting the decay time for the
pointcloud really high so it stores the points.

Is there a way to save the pointcloud that I see in Rviz to say an ascii
file or something? Cause I would like to do some smoothing and meshing
in an external environment.

Thank you, Freek

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Re: Storing pointcloud from RVIZ

Radu B. Rusu
Administrator
Freek,

We have a file format that allows the saving of PointCloud2/pcl::PointCloud datatypes, into ascii or binary PCD (Point
Cloud Data) format.

There's a few tutorials online on how to do that, but if you're just looking for a node that does it for you, I believe
pointcloud_to_pcd might be it.

$ rosrun pcl_ros pointcloud_to_pcd input:=/....

Cheers,
Radu.
--
http://pointclouds.org

On 12/09/2010 06:09 PM, Freek de Bruijn wrote:

> Hi all,
>
> I've been doing some gmapping and superimposing the RGB pointcloud (from
> kinect) on top of it. When I run gmapping and rviz I can see the map
> being build and the pointcloud is right on the spot so I'm getting
> really nice "3d maps" this way by setting the decay time for the
> pointcloud really high so it stores the points.
>
> Is there a way to save the pointcloud that I see in Rviz to say an ascii
> file or something? Cause I would like to do some smoothing and meshing
> in an external environment.
>
> Thank you, Freek
>
> UTS CRICOS Provider Code: 00099F
> DISCLAIMER: This email message and any accompanying attachments may contain confidential information.
> If you are not the intended recipient, do not read, use, disseminate, distribute or copy this message or
> attachments. If you have received this message in error, please notify the sender immediately and delete
> this message. Any views expressed in this message are those of the individual sender, except where the
> sender expressly, and with authority, states them to be the views of the University of Technology Sydney.
> Before opening any attachments, please check them for viruses and defects.
>
> Think. Green. Do.
>
> Please consider the environment before printing this email.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users
_______________________________________________
[hidden email] / http://pointclouds.org
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Re: Storing pointcloud from RVIZ

freekdebruijn
Hi radu, yeah I know about that package bit can I use it to store an "accumulated" cloud from rviz?

Thanks, freek

Sent from my iPhone

On 10/12/2010, at 5:19 PM, Radu Bogdan Rusu <[hidden email]> wrote:

> Freek,
>
> We have a file format that allows the saving of PointCloud2/pcl::PointCloud datatypes, into ascii or binary PCD (Point
> Cloud Data) format.
>
> There's a few tutorials online on how to do that, but if you're just looking for a node that does it for you, I believe
> pointcloud_to_pcd might be it.
>
> $ rosrun pcl_ros pointcloud_to_pcd input:=/....
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
>
> On 12/09/2010 06:09 PM, Freek de Bruijn wrote:
>> Hi all,
>>
>> I've been doing some gmapping and superimposing the RGB pointcloud (from
>> kinect) on top of it. When I run gmapping and rviz I can see the map
>> being build and the pointcloud is right on the spot so I'm getting
>> really nice "3d maps" this way by setting the decay time for the
>> pointcloud really high so it stores the points.
>>
>> Is there a way to save the pointcloud that I see in Rviz to say an ascii
>> file or something? Cause I would like to do some smoothing and meshing
>> in an external environment.
>>
>> Thank you, Freek
>>
>> UTS CRICOS Provider Code: 00099F
>> DISCLAIMER: This email message and any accompanying attachments may contain confidential information.
>> If you are not the intended recipient, do not read, use, disseminate, distribute or copy this message or
>> attachments. If you have received this message in error, please notify the sender immediately and delete
>> this message. Any views expressed in this message are those of the individual sender, except where the
>> sender expressly, and with authority, states them to be the views of the University of Technology Sydney.
>> Before opening any attachments, please check them for viruses and defects.
>>
>> Think. Green. Do.
>>
>> Please consider the environment before printing this email.
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> https://code.ros.org/mailman/listinfo/pcl-users
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users

UTS CRICOS Provider Code: 00099F
DISCLAIMER: This email message and any accompanying attachments may contain confidential information.
If you are not the intended recipient, do not read, use, disseminate, distribute or copy this message or
attachments. If you have received this message in error, please notify the sender immediately and delete
this message. Any views expressed in this message are those of the individual sender, except where the
sender expressly, and with authority, states them to be the views of the University of Technology Sydney.
Before opening any attachments, please check them for viruses and defects.

Think. Green. Do.

Please consider the environment before printing this email.
_______________________________________________
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Re: Storing pointcloud from RVIZ

Radu B. Rusu
Administrator
No, unfortunately not - that won't work. However, you can save individual point clouds to disc, and then concatenate
them or view them together using the other PCL tools (concatenate*, pcd_viewer, etc).

Cheers,
Radu.
--
http://pointclouds.org

On 12/09/2010 11:04 PM, Freek De Bruijn wrote:

> Hi radu, yeah I know about that package bit can I use it to store an "accumulated" cloud from rviz?
>
> Thanks, freek
>
> Sent from my iPhone
>
> On 10/12/2010, at 5:19 PM, Radu Bogdan Rusu<[hidden email]>  wrote:
>
>> Freek,
>>
>> We have a file format that allows the saving of PointCloud2/pcl::PointCloud datatypes, into ascii or binary PCD (Point
>> Cloud Data) format.
>>
>> There's a few tutorials online on how to do that, but if you're just looking for a node that does it for you, I believe
>> pointcloud_to_pcd might be it.
>>
>> $ rosrun pcl_ros pointcloud_to_pcd input:=/....
>>
>> Cheers,
>> Radu.
>> --
>> http://pointclouds.org
>>
>> On 12/09/2010 06:09 PM, Freek de Bruijn wrote:
>>> Hi all,
>>>
>>> I've been doing some gmapping and superimposing the RGB pointcloud (from
>>> kinect) on top of it. When I run gmapping and rviz I can see the map
>>> being build and the pointcloud is right on the spot so I'm getting
>>> really nice "3d maps" this way by setting the decay time for the
>>> pointcloud really high so it stores the points.
>>>
>>> Is there a way to save the pointcloud that I see in Rviz to say an ascii
>>> file or something? Cause I would like to do some smoothing and meshing
>>> in an external environment.
>>>
>>> Thank you, Freek
>>>
>>> UTS CRICOS Provider Code: 00099F
>>> DISCLAIMER: This email message and any accompanying attachments may contain confidential information.
>>> If you are not the intended recipient, do not read, use, disseminate, distribute or copy this message or
>>> attachments. If you have received this message in error, please notify the sender immediately and delete
>>> this message. Any views expressed in this message are those of the individual sender, except where the
>>> sender expressly, and with authority, states them to be the views of the University of Technology Sydney.
>>> Before opening any attachments, please check them for viruses and defects.
>>>
>>> Think. Green. Do.
>>>
>>> Please consider the environment before printing this email.
>>> _______________________________________________
>>> [hidden email] / http://pointclouds.org
>>> https://code.ros.org/mailman/listinfo/pcl-users
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> https://code.ros.org/mailman/listinfo/pcl-users
>
> UTS CRICOS Provider Code: 00099F
> DISCLAIMER: This email message and any accompanying attachments may contain confidential information.
> If you are not the intended recipient, do not read, use, disseminate, distribute or copy this message or
> attachments. If you have received this message in error, please notify the sender immediately and delete
> this message. Any views expressed in this message are those of the individual sender, except where the
> sender expressly, and with authority, states them to be the views of the University of Technology Sydney.
> Before opening any attachments, please check them for viruses and defects.
>
> Think. Green. Do.
>
> Please consider the environment before printing this email.
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users