ROS PCL

1. Tools

1.1 bag_to_pcd

Velodyne Lidar로 생성한 bag파일을 PCD포맷으로 변경 :rosrun pcl_ros bag_to_pcd <input_file.bag> /<topic> <output_directory>

• Reads a bag file, saving all ROS point cloud messages on a specified topic as PCD files.

1.2 convert_pcd_to_image

PCD를 이미지로 변경 : rosrun pcl_ros convert_pcd_to_image <cloud.pcd>

• Read the point cloud in <cloud.pcd> and publish it in ROS image messages at 5Hz.

파일 형태로 이미지를 저장하진 않고 Topic으로 출력 (확인필요)

• output (sensor_msgs/Image) : A stream of images generated from the PCD file.

[에러] "no rgb field"로 실행 안됨 - 추후 해결필요

[PCD시각화 방법]

pcl-tools 패키지 설치

• $ rosrun perception_pcl pcd_viewer <filename>
• $ pcd_viewer <filename>
• $ pcl_viewer -multiview 1 <pcd_filepath>

1.3 convert_pointcloud_to_image

1.4 pcd_to_pointcloud

1.5 pointcloud_to_pcd

좀더 자세한 내용 참고 : ROS/pcl/Tutorials

GitBook

[실습] 3D Pointcloud based

• Point_Cloud_Data
  • ROS bags-TO-Image.ipynb
  • ROS bags-TO-Point Clods.ipynb
  • ROS bags-TO-Avi.ipynb
  • KITTI Dataset Exploration.ipynb
  • KITTI Dataset Visualizing.ipynb
  • Read_RGBD
  • Velodyne_LiDAR