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Use the PCD VIEWPOINT field to transform the pointcloud before publication #442

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Use the PCD VIEWPOINT field to transform the pointcloud before publication #442

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2 changes: 1 addition & 1 deletion pcl_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -205,7 +205,7 @@ class_loader_hide_library_symbols(pcl_ros_surface)
## Tools

add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} pcl_ros_tf)

add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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10 changes: 9 additions & 1 deletion pcl_ros/tools/pcd_to_pointcloud.cpp
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Expand Up @@ -46,6 +46,7 @@
// ROS core
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/transforms.h>

#include <string>
#include <sstream>
Expand Down Expand Up @@ -123,16 +124,23 @@ class pcd_to_pointcloud {
}

bool try_load_pointcloud() {
Eigen::Vector4f origin = Eigen::Vector4f::Zero();
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
pcl::PCLPointCloud2 loadedCloud;
if (file_name.empty()) {
ROS_ERROR_STREAM("Can't load pointcloud: no file name provided");
return false;
}
else if (pcl::io::loadPCDFile(file_name, cloud) < 0) {
else if (pcl::io::loadPCDFile(file_name, loadedCloud, origin, orientation) < 0) {
ROS_ERROR_STREAM("Failed to parse pointcloud from file ('" << file_name << "')");
return false;
}
pcl_conversions::moveFromPCL(loadedCloud, cloud);
// success: set frame_id appropriately
cloud.header.frame_id = frame_id;
// Ignore origin[3], PCL doesn't fill it.
Eigen::Isometry3f transform = Eigen::Translation3f {origin.head<3>()} * orientation;
pcl_ros::transformPointCloud(transform.matrix(), cloud, cloud);
return true;
}

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