pointcloud_to_pcd.cpp
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00001 /*
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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 
00041 #include <sensor_msgs/PointCloud2.h>
00042 
00043 // PCL includes
00044 #include <pcl/io/io.h>
00045 #include <pcl/io/pcd_io.h>
00046 #include <pcl/point_types.h>
00047 
00048 #include <pcl_conversions/pcl_conversions.h>
00049 
00050 using namespace std;
00051 
00059 class PointCloudToPCD
00060 {
00061   protected:
00062     ros::NodeHandle nh_;
00063 
00064   private:
00065     std::string prefix_;
00066 
00067   public:
00068     string cloud_topic_;
00069 
00070     ros::Subscriber sub_;
00071 
00073     // Callback
00074     void
00075       cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
00076     {
00077       if ((cloud->width * cloud->height) == 0)
00078         return;
00079 
00080       ROS_INFO ("Received %d data points in frame %s with the following fields: %s",
00081                 (int)cloud->width * cloud->height,
00082                 cloud->header.frame_id.c_str (),
00083                 pcl::getFieldsList (*cloud).c_str ());
00084 
00085       std::stringstream ss;
00086       ss << prefix_ << cloud->header.stamp << ".pcd";
00087       ROS_INFO ("Data saved to %s", ss.str ().c_str ());
00088 
00089       pcl::io::savePCDFile (ss.str (), *cloud, Eigen::Vector4f::Zero (),
00090                             Eigen::Quaternionf::Identity (), false);
00091     }
00092 
00094     PointCloudToPCD ()
00095     {
00096       // Check if a prefix parameter is defined for output file names.
00097       ros::NodeHandle priv_nh("~");
00098       if (priv_nh.getParam ("prefix", prefix_))
00099         {
00100           ROS_INFO_STREAM ("PCD file prefix is: " << prefix_);
00101         }
00102       else if (nh_.getParam ("prefix", prefix_))
00103         {
00104           ROS_WARN_STREAM ("Non-private PCD prefix parameter is DEPRECATED: "
00105                            << prefix_);
00106         }
00107 
00108       cloud_topic_ = "input";
00109 
00110       sub_ = nh_.subscribe (cloud_topic_, 1,  &PointCloudToPCD::cloud_cb, this);
00111       ROS_INFO ("Listening for incoming data on topic %s",
00112                 nh_.resolveName (cloud_topic_).c_str ());
00113     }
00114 };
00115 
00116 /* ---[ */
00117 int
00118   main (int argc, char** argv)
00119 {
00120   ros::init (argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName);
00121 
00122   PointCloudToPCD b;
00123   ros::spin ();
00124 
00125   return (0);
00126 }
00127 /* ]--- */


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31