$search
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: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $ 00035 * 00036 */ 00037 00038 // ROS core 00039 #include <ros/ros.h> 00040 // PCL includes 00041 #include <pcl/io/io.h> 00042 #include <pcl/io/pcd_io.h> 00043 #include <pcl/point_types.h> 00044 00045 using namespace std; 00046 00054 class PointCloudToPCD 00055 { 00056 protected: 00057 ros::NodeHandle nh_; 00058 00059 private: 00060 std::string prefix_; 00061 00062 public: 00063 string cloud_topic_; 00064 00065 ros::Subscriber sub_; 00066 00068 // Callback 00069 void 00070 cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud) 00071 { 00072 if ((cloud->width * cloud->height) == 0) 00073 return; 00074 00075 ROS_INFO ("Received %d data points in frame %s with the following fields: %s", 00076 (int)cloud->width * cloud->height, 00077 cloud->header.frame_id.c_str (), 00078 pcl::getFieldsList (*cloud).c_str ()); 00079 00080 std::stringstream ss; 00081 ss << prefix_ << cloud->header.stamp << ".pcd"; 00082 ROS_INFO ("Data saved to %s", ss.str ().c_str ()); 00083 00084 pcl::io::savePCDFile (ss.str (), *cloud, Eigen::Vector4f::Zero (), 00085 Eigen::Quaternionf::Identity (), false); 00086 } 00087 00089 PointCloudToPCD () 00090 { 00091 // Check if a prefix parameter is defined for output file names. 00092 ros::NodeHandle priv_nh("~"); 00093 if (priv_nh.getParam ("prefix", prefix_)) 00094 { 00095 ROS_INFO_STREAM ("PCD file prefix is: " << prefix_); 00096 } 00097 else if (nh_.getParam ("prefix", prefix_)) 00098 { 00099 ROS_WARN_STREAM ("Non-private PCD prefix parameter is DEPRECATED: " 00100 << prefix_); 00101 } 00102 00103 cloud_topic_ = "input"; 00104 00105 sub_ = nh_.subscribe (cloud_topic_, 1, &PointCloudToPCD::cloud_cb, this); 00106 ROS_INFO ("Listening for incoming data on topic %s", 00107 nh_.resolveName (cloud_topic_).c_str ()); 00108 } 00109 }; 00110 00111 /* ---[ */ 00112 int 00113 main (int argc, char** argv) 00114 { 00115 ros::init (argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName); 00116 00117 PointCloudToPCD b; 00118 ros::spin (); 00119 00120 return (0); 00121 } 00122 /* ]--- */