Point Cloud Recorder

Subscribe to point cloud messages and save them as PLY files for use in CloudCompare and other 3D software.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux - Record standard point clouds
./point_cloud_recorder <src_ip>

# Linux - Record RGB point clouds (higher bandwidth)
./point_cloud_rgb_recorder <src_ip>

# Windows - Record standard point clouds
./Release/point_cloud_recorder.exe <src_ip>

# Windows - Record RGB point clouds (higher bandwidth)
./Release/point_cloud_rgb_recorder.exe <src_ip>

Parameters

  • src_ip: IP address of the device running Hammerhead

Examples

# Record point clouds from Hammerhead device
# Use 127.0.0.1 if running on the same device as Hammerhead
./point_cloud_recorder 127.0.0.1

# Use the network IP address if running on a different device
./point_cloud_recorder 10.10.1.10

# Record RGB point clouds with color information
./point_cloud_rgb_recorder 10.10.1.10

Output

  • Format: PLY files saved in point_clouds/ directory
  • Naming: Sequential numbering (e.g., cloud_000001.ply)
  • Compatible with: CloudCompare and other 3D visualization software

Features

  • Optimized memory allocation
  • Fast PLY file writing
  • Support for RGB point clouds
  • Real-time performance monitoring
  • Progress tracking with timestamps

Bandwidth Warning

Important: Point cloud streaming requires significant network bandwidth. RGB point clouds require even more.

Troubleshooting

  • No files created: Check that Hammerhead is running and point cloud streaming is enabled
  • Connection timeout: Verify network connectivity and firewall settings
  • High bandwidth usage: Consider using point cloud soup recorder for reduced bandwidth

Press Ctrl+C to stop recording.