1. 查看 PCD 文件
#安装
sudo apt update
sudo apt install pcl-tools
#查看
pcl_viewer xxx.pcd
2.录制 BAG 文件
#安装 ROS
#录制 Topic
扫描二维码关注公众号,回复: 17162985 查看本文章rosbag record /topic_name1 /topic_name2 /topic_name3
#录制全部 Topics
rosbag record -a
#查看信息
rosbag info xxx.bag
path: xxx.bag
version: 2.0
duration: 42.9s
start: Aug 13 2023 22:11:42.57 (1691935902.57)
end: Aug 13 2023 22:12:25.46 (1691935945.46)
size: 1.1 GB
messages: 12312
compression: none [1012/1012 chunks]
types:
lio_sam/cloud_info [50b728f6fcea6789af5feea0b14f80fe]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics:
/imu 814 msgs : sensor_msgs/Imu
/lio_sam/deskew/cloud_deskewed 405 msgs : sensor_msgs/PointCloud2
/lio_sam/deskew/cloud_info 404 msgs : lio_sam/cloud_info
/point_cloud_raw 405 msgs : sensor_msgs/PointCloud2
3. 切割 BAG to PCD 文件
# rosrun pcl_ros bag_to_pcd <*.bag> <topic> <output_directory>
# rosrun pcl_ros bag_to_pcd <bag文件名> <topic名称> <保存目录>
# rosbag info 查看 topics 信息
rosrun pcl_ros bag_to_pcd /home/xxx/Documents/a.bag /lio_sam/deskew/cloud_deskewed /home/xxx/Documents/
4. 合并 PCD 文件
#安装 Python
sudo apt update
sudo apt install python3.7
import open3d as o3d
import numpy as np
pcd1 = o3d.io.read_point_cloud("1.pcd")
pcd2 = o3d.io.read_point_cloud("2.pcd")
pcd_combine = pcd1 + pcd2
o3d.visualization.draw_geometries([pcd_combine], window_name="pcd_combine")
# 保存以上代码为文件 pcd_combine.py
python pcd_combine.py