Data Exporter

This simple node will export pointcloud data and image data to PCD and JPG files respectively.

The exported data will be saved under the ${HOME} directory of the user under the name output_YYYYMMDDHHmmSS.

The data PCD and JPG data will be stored in subdirectories as shown below:

output_YYYYmmdd_HHMMSS/
├── image
└── pointcloud

The files under image and pointcloud will be named in numerical sequence base 0, padded with upto 6 zeros (i.e. 000001.pcd or 000001.jpg).

Topic Subscription

Param	Default Value	Description
image_src	image_raw	image data
points_src	points_raw	point cloud data
sync	False	Whether or not to require synchronized topics. If set to True, the timestamps from both the image and cloud must match. When False, the data will be processed as it arrives.

How to run

1. Compile using catkin_make under a valid catkin workspace.
2. Source the terminal in the workspace source devel/setup.bash.
3. Execute rosrun data_exporter image_pointcloud_exporter.