Point Cloud Recorder

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

Installation

pip install -e examples/python/point_cloud_recorder

Usage

# Record standard point clouds
python point_cloud_recorder.py <src_ip>

# Record RGB point clouds (higher bandwidth)
python point_cloud_rgb_recorder.py <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
python point_cloud_recorder.py 127.0.0.1

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

# Record RGB point clouds with color information
python point_cloud_rgb_recorder.py 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

  • Saves point clouds as PLY files
  • Support for both standard and RGB point clouds
  • Compatible with CloudCompare and other 3D visualization software
  • 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.