pointcloudset CLI

The best way to work with large ROS1 or ROS2 files is to convert the rosbag beforehand with the provided command line tool.

It is also possible to convert whole or parts of ROS files to many poplar formats which are supported by pyntcloud:

.asc / .pts / .txt / .csv / .xyz .las .npy / .npz .obj .off (with color support) .pcd .ply

Example

An example to convert topic /os1_cloud_node/point within the test.bag rosbag to the converted directory.

pointcloudset convert -t /os1_cloud_node/points -d converted test.bag

List all PointCloud2 topics in a ROS file.

pointcloudset topics test.bag