ROS bagνŒŒμΌμ—μ„œ pcd파일둜 λ³€ν™˜ν•˜λŠ” 방법을 μ•Œμ•„λ³΄μž!

직접 μ½”λ“œλ₯Ό μ§œμ„œ κ΅¬ν˜„ν•΄λ„ λœλ‹€
ν•˜μ§€λ§Œ 이 κΈ€μ—μ„œλŠ” λˆ„κ°€ μ§œλ†“μ€ μ½”λ“œλ₯Ό κ°€μ Έλ‹€ μ“°κΈ°λ§Œ ν•  것이닀

Bag to pcd

μ•„λž˜ λͺ…λ Ήμ–΄λ₯Ό λ¨Όμ € μž…λ ₯ ν›„ rosbag νŒŒμΌμ„ μž¬μƒν•΄μ€€λ‹€

$ rosrun pcl_ros pointcloud_to_pcd input:="/lidar_topic_name"


κ²°κ³Ό

그러면 밑에와 같이 λ³€ν™˜λ˜λŠ” 것을 확인할 수 μžˆλ‹€!

[ INFO] [1653288413.678141068]: Data saved to 6064231440.pcd
[ INFO] [1653288413.778496106]: Received 65536 data points in frame os_sensor with the following fields: x y z intensity t reflectivity ring ambient range

point cloud λ‚΄λΆ€ field νŠΉμ„±μΈ x, y, z, intensity, t, reflectivity, ring, ambient, range 값도 μ „λΆ€ λ³€ν™˜λœλ‹€

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