4.1 bag_to_pcd

Reads a bag file, saving all ROS point cloud messages on a specified topic as PCD files.

4.1.1 Usage

  $ rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

Where:

• <input_file.bag> is the bag file name to read.

• <topic> is the topic in the bag file containing messages to save.

• <output_directory> is the directory on disk in which to create PCD files from the point cloud messages.

4.1.2 Example

Read messages from the /laser_tilt_cloud topic in data.bag, saving a PCD file for each message into the ./pointclouds subdirectory.

  $ rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds

參考：http://wiki.ros.org/pcl_ros

How to extract pcd from a rosbag？ 如何從rosbag中提取pcd