_msgs::msg::PointCloud2>("/cloud_result", 10); auto callback = [this](const PointCloud2::UniquePtr cloud_msg) -> void { pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>); pcl::fromROSMsg(*cloud_msg, *cloud); pcl::PointCloud<pcl::PointXYZI>...
解决方法：在PCL1.8中将PointCloud2加入了pcl名字空间，sensor_msgs是旧的方式，不再使用。将以下代码...
sensor_msgs::PointCloud2 adjust_msg; //等待发送的点云消息 pcl::PointCloud<pcl::PointXYZRGB> adjust_pcl; //建立了一个pcl的点云,作为中间过程 public: pcl_sub(): n("~"){ subCloud = n.subscribe<sensor_msgs::PointCloud2>("/camera/depth/color/points", 1, &pcl_sub::getcloud, this);...
这好像ROS作为sensor_msgs/PointCloud2消息,与非PCL的ROS节点无缝连接。例如,你可以在一个节点中发布pcl::PointCloud<T>和在rviz中使用Point Cloud2 display可视化,它通过挂在到roscpp serializationinfrastructure起作用。 注意:旧的形式——sensor_msgs/PointCloud已经不在PCL中支持。 4.1 发布点云 你可以发布点云,...
msg->header.stamp =ros::Time::now().toNSec(); pub.publish (msg); ros::spinOnce (); loop_rate.sleep (); } } 4.2 订阅点云 你也可以订阅点云,使用标准的ros::Subscriber #include <ros/ros.h>#include<pcl_ros/point_cloud.h>#include<pcl/point_types.h>#include<boost/foreach.hpp>typed...
fixed a bug in PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> where one of the offsets for Z was incorrectly calculated thus leading to erroneous data (#404 - thanks Lucas!)set the lighting off on setShapeRenderingProperties when the user tries to control the color of the object ...
sensor_msgs::PointCloud2 cloud2; sensor_msgs::PointCloud2 cloud2transformed; //使用共享指针定义output_cloud 和scan_cloud boost::shared_ptr< sensor_msgs::PointCloud2> output_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2()); boost::shared_ptr< sensor_msg...
#include <pcl/segmentation/impl/conditional_euclidean_clustering.hpp> #include <pcl/PCLPointCloud2.h> ros::Publisher pub; void cloud_cb (const sensor_msgs::PointCloud2 input) { // Create a container for the data. sensor_msgs::PointCloud2 output; pcl::PCLPointCloud2 pcl_pc; pcl_conversi...
Add PointNormal to ExtractIndices Instantiate Types [#2389] [abi] Improved docstrings and error messages [#2300] Public access to VoxelGrid boost pointer. [#2205] Add const qualifiers to getters in filter_indices.h [#2193] Avoid huge index jumps in RandomSample. Remove io dependency from 2d....
Updated TextureMapping to not use hard-coded point types [#929] Added a new function getHullPointIndices in concave and convex hull classes to retrieve indices of points that form the computed hull [#1213] Added several functions and parameters to the OrganizedFastMesh class [#1262] Added ...