PointCloudLibrary/pcl

Add PCLPointCloud2 Header fields (Stamp, Seq, Frame_id) to PCDWriter/PCDReader

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#2,287 opened on Apr 20, 2018

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good first issuekind: todomodule: io

Description

The PCDWriter/PCDReader combination deals with PCLPointClouds2. However it does not include the header fields in the file format(Stamp, Seq, Frame_id).

Your Environment

  • Operating System and version: Ubuntu 17.10
  • Compiler: GNU GCC
  • PCL Version: trunk

Context

The newest trunk allows serialization to an iostream, allowing an easy way to use the PCD format over the network. However the header fields are not stored in the PCD format. It could also be useful for figuring out metadata of the PCD at a later time.

Expected Behavior

Converting a PCLPointCloud2 to PCD Format and back results in the header field in PCLPointCloud2 being identical to the pointcloud before conversion.

Current Behavior

Converting a PCLPointCloud2 to PCD Format and back results in an empty header.

Possible Solution

I propose adding three fields to the header STAMP (Time since epoch in microseconds, header.stamp) FRAME (Frame name, header.frame_id) SEQ (Sequence id, header.seq)

Contributor guide

Tech stack
cpp
Domain
backenddata
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
Familiarity with PCL libraryUnderstanding of PCD file formatBasic knowledge of file I/O in C++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60
Research direction
Start by examining the PCDWriter and PCDReader source files in the pcl/io directory. The issue proposes adding STAMP, FRAME, and SEQ fields to the PCD header. You need to modify the write function to include these fields from the PCLPointCloud2 header, and the read function to parse them back. Look at existing header fields like WIDTH, HEIGHT, POINTS for reference. The solution is straightforward but requires careful handling of the header format. No linked PRs or assignees, so you can work independently. Check comments for any additional guidance.