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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: bag_to_pcd.cpp 35812 2011-02-08 00:05:03Z rusu $ 00035 * 00036 */ 00037 00047 #include <sstream> 00048 #include <boost/filesystem.hpp> 00049 #include <rosbag/bag.h> 00050 #include <rosbag/view.h> 00051 #include "pcl/io/io.h" 00052 #include "pcl/io/pcd_io.h" 00053 #include "pcl_ros/transforms.h" 00054 #include <tf/transform_listener.h> 00055 #include <tf/transform_broadcaster.h> 00056 00057 typedef sensor_msgs::PointCloud2 PointCloud; 00058 typedef PointCloud::Ptr PointCloudPtr; 00059 typedef PointCloud::ConstPtr PointCloudConstPtr; 00060 00061 /* ---[ */ 00062 int 00063 main (int argc, char** argv) 00064 { 00065 ros::init (argc, argv, "bag_to_pcd"); 00066 if (argc < 4) 00067 { 00068 std::cerr << "Syntax is: " << argv[0] << " <file_in.bag> <topic> <output_directory>" << std::endl; 00069 std::cerr << "Example: " << argv[0] << " data.bag /laser_tilt_cloud ./pointclouds" << std::endl; 00070 return (-1); 00071 } 00072 00073 // TF 00074 tf::TransformListener tf_listener; 00075 tf::TransformBroadcaster tf_broadcaster; 00076 00077 rosbag::Bag bag; 00078 rosbag::View view; 00079 rosbag::View::iterator view_it; 00080 00081 try 00082 { 00083 bag.open (argv[1], rosbag::bagmode::Read); 00084 } 00085 catch (rosbag::BagException) 00086 { 00087 std::cerr << "Error opening file " << argv[1] << std::endl; 00088 return (-1); 00089 } 00090 00091 view.addQuery (bag, rosbag::TypeQuery ("sensor_msgs/PointCloud2")); 00092 view.addQuery (bag, rosbag::TypeQuery ("tf/tfMessage")); 00093 view_it = view.begin (); 00094 00095 std::string output_dir = std::string (argv[3]); 00096 boost::filesystem::path outpath (output_dir); 00097 if (!boost::filesystem::exists (outpath)) 00098 { 00099 if (!boost::filesystem::create_directories (outpath)) 00100 { 00101 std::cerr << "Error creating directory " << output_dir << std::endl; 00102 return (-1); 00103 } 00104 std::cerr << "Creating directory " << output_dir << std::endl; 00105 } 00106 00107 // Add the PointCloud2 handler 00108 std::cerr << "Saving recorded sensor_msgs::PointCloud2 messages on topic " << argv[2] << " to " << output_dir << std::endl; 00109 00110 PointCloud cloud_t; 00111 ros::Duration r (0.001); 00112 // Loop over the whole bag file 00113 while (view_it != view.end ()) 00114 { 00115 // Handle TF messages first 00116 tf::tfMessage::ConstPtr tf = view_it->instantiate<tf::tfMessage> (); 00117 if (tf != NULL) 00118 { 00119 tf_broadcaster.sendTransform (tf->transforms); 00120 ros::spinOnce (); 00121 r.sleep (); 00122 } 00123 else 00124 { 00125 // Get the PointCloud2 message 00126 PointCloudConstPtr cloud = view_it->instantiate<PointCloud> (); 00127 if (cloud == NULL) 00128 { 00129 ++view_it; 00130 continue; 00131 } 00132 // Transform it 00133 pcl_ros::transformPointCloud ("/base_link", *cloud, cloud_t, tf_listener); 00134 00135 std::cerr << "Got " << cloud_t.width * cloud_t.height << " data points in frame " << cloud_t.header.frame_id << " with the following fields: " << pcl::getFieldsList (cloud_t) << std::endl; 00136 00137 std::stringstream ss; 00138 ss << output_dir << "/" << cloud_t.header.stamp << ".pcd"; 00139 std::cerr << "Data saved to " << ss.str () << std::endl; 00140 pcl::io::savePCDFile (ss.str (), cloud_t, Eigen::Vector4f::Zero (), 00141 Eigen::Quaternionf::Identity (), true); 00142 } 00143 // Increment the iterator 00144 ++view_it; 00145 } 00146 00147 return (0); 00148 } 00149 /* ]--- */