pcd=pcl.load_pcd(pcd文件名)msg=pcd.to_msg() pcd.to_msg()方法会返回一个PointCloud2类型的对象, 该对象就是ros中的PointCloud2对象, 也就表示可以直接将返回的msg对象 写入到bag包中. 完整代码 importpclpcd=pcl.load_pcd("binary_data_pcd.pcd")msg=pcd.to_msg() 示例pcd文件链接: 带有写入bag im...
After I run roslaunch realsense2_camera demo_pointcloud.launch Rviz opens with a pointcloud image . Then I run rosrun pcl_ros pointcloud_to_pcd input:/camera/depth/color/points Output is [ INFO] [1640994236.548494422]: Saving as ASCII PC...
rosrun pcl_ros pcd_to_pointcloud point_cloud_file.pcd example2: Publish the contents ofcloud_file.pcdapproximately ten times a second in the/odomframe of reference. rosrun pcl_ros pcd_to_pointcloud cloud_file.pcd 0.1 _frame_id:=/odom pointcloud_to_pcd usage rosrun pcl_ros pointcloud_t...
convert_pointcloud_to_image pcd_to_pointcloud pointcloud_to_pcd 😆3. 点云转换应用示例 下面基于pcl_ros包实现pcl读取pcd文件通过ros话题发布,以及ros订阅话题后通过pcl显示: pcd_pub节点 代码语言:cpp 复制 pcd_pub.cpp#include<ros/ros.h>#include<sensor_msgs/PointCloud2.h>#include<pcl_conversions/p...
用法:rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ] <file.pcd> is the (required) file name to read. <interval> is the (optional) number of seconds to sleep between messages. If <interval> is zero or not specified the message is published once. ...
(3) convert_pointcloud_to_image用法:rosrun pcl_ros convert_pointcloud_to_ 32、image input:二/my_cloudoutput:二/my_image查看图像: rosrun image_view image_view image:二/my_image订阅一个ROS的点云的话题并以图像的信息发布出去。(4) pcd_to_pointcloud用法:rosrun pcl_ros pcd_to_pointcloud <...
("table_scene_lms400.pcd", *cloud_blob);pcl::VoxelGrid<pcl::PCLPointCloud2> sor;sor.setInputCloud (cloud_blob);sor.setLeafSize (0.01f,0.01f,0.01f);//经过体素滤波后输出的点云格式仍然是pcl::PCLPointCloud2::Ptrsor.filter (*cloud_filtered_blob);//重点:这里是为了将pcl::PCLPointCloud2...
用法:rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ] <file.pcd> is the (required) file name to read. <interval> is the (optional) number of seconds to sleep between messages. If <interval> is zero or not specified the message is published once. ...
PointCloud::Ptr msg (new PointCloud); msg->header.frame_id = "some_tf_frame"; msg->height = msg->width = 1; msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0)); ros::Rate loop_rate(4); while (nh.ok()) { msg->header.stamp = ros::Time::now().toNSec(); ...
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud 1. rviz 1. PCL点云处理 ROS中PCL数据转换 Pcl::PointCloud和pcl::PointCloud::Ptr类型的转换 使用PCL接收点云,操作之后重新发送 接收点云信息并用pcl显示 ...