Save pointcloud

[peta-peta]

Hallo, thank you for sharing the tool. I got it running on Ubuntu 18.04 using the L515. How can I export the point clouds which are mapped together? Best wishes peta-peta

[wh200720041]

Hi @peta-peta Thanks for posting question here.

I would like to recommend two ways

1. You may use pcd save function provided by PCL pcl::io::savePCDFile( "cloud.pcd", *map, true ); You can add this function at mapping thread. However, you need to recompile the code

2. A faster way is to use ros_pcl rosrun pcl_ros pointcloud_to_pcd input:=/map You may also check the ros official website for more information http://wiki.ros.org/pcl_ros

Regards Han

[peta-peta]

Hi Han, ty for your quick answer. rosrun pcl_ros pointcloud_to_pcd input:=/map Output:

[ INFO] [1598470938.510752806]: Saving as ASCII PCD [ INFO] [1598470938.513843547]: Listening for incoming data on topic /map

It works! I can get the mapped pointcloud and I am able to visualize it with pcl_viewer filename.pcd

I would like to create a triangulated mesh from the pointcloud. Any idea? I figured that Open3D can do that. Kind regards Peter

[wh200720041]

Hi Peter:

First you need to launch floam_ssl_L515.launch

The map topic was set to only update when the displacement is significant. In my setting the map is updated when displacement >0.3m. So if you hold camera still, there will not be any map topic. You can change this by editting lasermappingnode.cpp.

This is because map cannot be updated too frequently since it's too big.

And perhaps you can download the rosbag provided and test on recorded data first.

For pcd viewer, you can run pcl_viewer xxx.pcd

Regards Han