pointcloud_to_pcd.cpp

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/*
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $
 *
 */

// ROS core
#include <ros/ros.h>

#include <sensor_msgs/PointCloud2.h>

// PCL includes
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <pcl_conversions/pcl_conversions.h>

using namespace std;

class PointCloudToPCD
{
  protected:
    ros::NodeHandle nh_;

  private:
    std::string prefix_;
    bool binary_;
    bool compressed_;

  public:
    string cloud_topic_;

    ros::Subscriber sub_;

    // Callback
    void
      cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
    {
      if ((cloud->width * cloud->height) == 0)
        return;

      ROS_INFO ("Received %d data points in frame %s with the following fields: %s",
                (int)cloud->width * cloud->height,
                cloud->header.frame_id.c_str (),
                pcl::getFieldsList (*cloud).c_str ());

      std::stringstream ss;
      ss << prefix_ << cloud->header.stamp << ".pcd";
      ROS_INFO ("Data saved to %s", ss.str ().c_str ());

      pcl::PCDWriter writer;
      if(binary_)
        {
          if(compressed_)
            {
              writer.writeBinaryCompressed (ss.str (), *cloud, Eigen::Vector4f::Zero (),
                                            Eigen::Quaternionf::Identity ());
            }
          else
            {
              writer.writeBinary (ss.str (), *cloud, Eigen::Vector4f::Zero (),
                                  Eigen::Quaternionf::Identity ());
            }
        }
      else
        {
          writer.writeASCII (ss.str (), *cloud, Eigen::Vector4f::Zero (),
                             Eigen::Quaternionf::Identity (), 8);
        }

    }

    PointCloudToPCD () : binary_(false), compressed_(false)
    {
      // Check if a prefix parameter is defined for output file names.
      ros::NodeHandle priv_nh("~");
      if (priv_nh.getParam ("prefix", prefix_))
        {
          ROS_INFO_STREAM ("PCD file prefix is: " << prefix_);
        }
      else if (nh_.getParam ("prefix", prefix_))
        {
          ROS_WARN_STREAM ("Non-private PCD prefix parameter is DEPRECATED: "
                           << prefix_);
        }

      priv_nh.getParam ("binary", binary_);
      priv_nh.getParam ("compressed", compressed_);
      if(binary_)
        {
          if(compressed_)
            {
              ROS_INFO_STREAM ("Saving as binary compressed PCD");
            }
          else
            {
              ROS_INFO_STREAM ("Saving as binary PCD");
            }
        }
      else
        {
          ROS_INFO_STREAM ("Saving as ASCII PCD");
        }

      cloud_topic_ = "input";

      sub_ = nh_.subscribe (cloud_topic_, 1,  &PointCloudToPCD::cloud_cb, this);
      ROS_INFO ("Listening for incoming data on topic %s",
                nh_.resolveName (cloud_topic_).c_str ());
    }
};

/* ---[ */
int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName);

  PointCloudToPCD b;
  ros::spin ();

  return (0);
}
/* ]--- */