128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $
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*
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*/
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// ROS core
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#include <ros/ros.h>
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#include <sensor_msgs/PointCloud2.h>
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// PCL includes
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#include <pcl/io/io.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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using namespace std;
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/**
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\author Radu Bogdan Rusu
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@b pointcloud_to_pcd is a simple node that retrieves a ROS point cloud message and saves it to disk into a PCD (Point
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Cloud Data) file format.
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**/
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class PointCloudToPCD
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{
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protected:
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ros::NodeHandle nh_;
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private:
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std::string prefix_;
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public:
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string cloud_topic_;
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ros::Subscriber sub_;
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////////////////////////////////////////////////////////////////////////////////
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// Callback
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void
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cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
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{
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if ((cloud->width * cloud->height) == 0)
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return;
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ROS_INFO ("Received %d data points in frame %s with the following fields: %s",
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(int)cloud->width * cloud->height,
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cloud->header.frame_id.c_str (),
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pcl::getFieldsList (*cloud).c_str ());
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std::stringstream ss;
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ss << prefix_ << cloud->header.stamp << ".pcd";
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ROS_INFO ("Data saved to %s", ss.str ().c_str ());
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pcl::io::savePCDFile (ss.str (), *cloud, Eigen::Vector4f::Zero (),
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Eigen::Quaternionf::Identity (), false);
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}
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////////////////////////////////////////////////////////////////////////////////
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PointCloudToPCD ()
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{
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// Check if a prefix parameter is defined for output file names.
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ros::NodeHandle priv_nh("~");
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if (priv_nh.getParam ("prefix", prefix_))
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{
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ROS_INFO_STREAM ("PCD file prefix is: " << prefix_);
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}
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else if (nh_.getParam ("prefix", prefix_))
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{
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ROS_WARN_STREAM ("Non-private PCD prefix parameter is DEPRECATED: "
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<< prefix_);
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}
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cloud_topic_ = "input";
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sub_ = nh_.subscribe (cloud_topic_, 1, &PointCloudToPCD::cloud_cb, this);
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ROS_INFO ("Listening for incoming data on topic %s",
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nh_.resolveName (cloud_topic_).c_str ());
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}
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};
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/* ---[ */
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int
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main (int argc, char** argv)
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{
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ros::init (argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName);
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PointCloudToPCD b;
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ros::spin ();
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return (0);
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}
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/* ]--- */
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