PointCloudLibrary/pcl

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

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#2,287 建立於 2018年4月20日

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 (2 留言) (0 反應) (0 負責人)C++ (9,023 star) (4,506 fork)batch import
good first issuekind: todomodule: io

描述

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)

貢獻者指南

技術棧
cpp
領域
backenddata
議題類型
feature
難度面向新貢獻者的預計實作難度，1 表示很小改動，5 表示專家級工作。
3
預計時間有經驗貢獻者完成調查、實作、測試並準備 pull request 的粗略時間範圍。
1-2 days
活動狀態議題目前的可參與程度：新鮮、活躍、陳舊、阻塞或等待維護者輸入。
stale
清晰度議題是否清楚說明預期改動、驗收標準和下一步。
clear
前置要求
Familiarity with PCL libraryUnderstanding of PCD file formatBasic knowledge of file I/O in C++
新手友善度1-100 的估計分數，表示該議題對首次貢獻者的友善程度。
60
研究方向
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.