Open nonlinear1 opened 4 years ago
Hello! You can install https://github.com/ANYbotics/point_cloud_io This node can write every message of topic "/velodyne_cloud_registered" as ply cloud. You have to edit rosbag.launch file (see example by link below) After finish of: roslaunch loam_livox rosbag.launch rosbag play CYT_02.bag
you can open all ply (about 12500 for CYT_02) by cloudcompare and merge all ply parts. And save result as las. The link for example of rosbag.launch and the result - CYT_02.las = https://drive.google.com/open?id=1RhBJK3zEQTQWF9ixenswgs5YlTzAn_6p
wbr, Egor.
Thank you very much!
Hi Egor,
Thanks for showing us how to get the 3D pointcloud (i.e. ply) and how to get a las file in Cloudcompare.
The las file is good. I open it using R package (lidR). See logs below.
Noli
class : LAS (LASF v1.2)
point format : 2
memory : 1.7 Gb
extent :-43.0077, 205.369, -120.722, 193.37 (xmin, xmax, ymin, ymax)
coord. ref. : NA
area : 56033.64 units²
points : 20.21 million points
density : 360.69 points/units²
names : X Y Z Intensity ReturnNumber NumberOfReturns ScanDirectionFlag EdgeOfFlightline Classification Synthetic_flag Keypoint_flag Withheld_flag ScanAngleRank UserData PointSourceID R G B Original cloud index
File signature: LASF
File source ID: 0
Global encoding:
- GPS Time Type: GPS Week Time
- Synthetic Return Numbers: no
- Well Know Text: CRS is GeoTIFF
- Aggregate Model: false
Project ID - GUID: 00000000-0000-0000-0000-000000000000
Version: 1.2
System identifier: PDAL
Generating software: PDAL 2.1.0 (b47a76)
File creation d/y: 106/2020
header size: 227
Offset to point data: 473
Num. var. length record: 1
Point data format: 2
Point data record length: 34
Num. of point records: 20210994
Num. of points by return: 20210994 0 0 0 0
Scale factor X Y Z: 1e-06 1e-06 1e-06
Offset X Y Z: 0 0 0
min X Y Z: -43.0077 -120.722 -8.16431
max X Y Z: 205.369 193.37 50.0814
Variable length records:
Variable length record 1 of 1
Description: Extra Bytes Record
Extra Bytes Description:
Original cloud index:
Hello guys, I tried compiling this together with livox loam, and it gave me an error that package pcl_ros and pcl_conversions not found. when I put these two packages into catkin workspace, it gave me : pcl_conversions/pcl_conversions.h: No such file or directory When I tried install these two packages, also won't work.
So I am wondering which version of PCL are you using and have you produced a same problem?
Hello! You can install https://github.com/ANYbotics/point_cloud_io This node can write every message of topic "/velodyne_cloud_registered" as ply cloud. You have to edit rosbag.launch file (see example by link below) After finish of: roslaunch loam_livox rosbag.launch rosbag play CYT_02.bag
you can open all ply (about 12500 for CYT_02) by cloudcompare and merge all ply parts. And save result as las. The link for example of rosbag.launch and the result - CYT_02.las = https://drive.google.com/open?id=1RhBJK3zEQTQWF9ixenswgs5YlTzAn_6p
wbr, Egor.
Hi Egor, Thanks for your information. Could you please show a little more details on how to merge all ply parts in Cloudcompare?
Thanks!
After I run the rosbag, I want to save the result pointcloud. How can I do to save the pointcloud? Thank you very much