PCL Transformation

This repo is to implement PCL to PCD, PCL Transformer, PCL to PCD.

1. Configure Launch File

    <node name="pcd_opener" pkg="pcd_viewer" type="pcd_opener" output="screen">
        <param name="pcd_dir" value="$(find pcd_viewer)/pcd/{pcd_file_name}.pcd" />
    </node>

Change {pcd_file_name} into the desired pcd.

    <node name="pcd_transformer" pkg="pcd_viewer" type="pcd_transformer" output="screen">
        <param name="pcd_name" value="{saved_pcd_file_name}" />
    </node>

change {saved_pcd_file_name} for saved pcd file name, the file will be saved in pcd dir

2. Run Launch File

roslaunch pcd_viewer transform.launch

3. Rotate point cloud in y-axis dynamicly

rosrun rqt_reconfigure rqt_reconfigure

To change degree of rotation, use the slider or box

4. Save the transformed PCL to PCD

rosservice call /pcd_transformer/save_pcl

Demo video

Open.PCD.mp4