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BlazingForests / realsense_camera

use realsense camera in ROS
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Storing point clouds #2

Closed Isabelp closed 9 years ago

Isabelp commented 9 years ago

Hi,

I am trying to store the pointclouds using bag_to_pcd or pointcloud_to_pcd but with both I always get just one pointcloud, since the name does not change every time, the file is overwritten, and it has the name "0". The trouble is not with bag_to_pcd or pointcloud_to_pcd because I have tested them with another packages (pointclouds from an asus xtion pro and another package for realsense) and works fine. Could you give me a hint how can I solve this issue? Thanks in advance, Isabel

teknotus commented 9 years ago

It looks like pointcloud_topcd uses this line to create the file name. ss << prefix << cloud->header.stamp << ".pcd";

realsense_camera is putting timestamps on the images like this. depth_img.header.stamp = ros::Time::now(); rgb_img.header.stamp = ros::Time::now();

I didn't find similar code to put timestamps on the pointclouds.

I think you will need to add realsense_xyz_cloud2.header.stamp = ros::Time::now(); in pubRealSensePointsXYZCloudMsg()

and realsense_xyzrgb_cloud2.header.stamp = ros::Time::now(); in pubRealSensePointsXYZRGBCloudMsg()

Isabelp commented 9 years ago

Thank you very much @teknotus, it works now!

teknotus commented 9 years ago

Glad I could help.