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...
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...
rosrun pcl_ros pointcloud_to_pcd input:=<cloud_topic> example1: Subscribe to the/velodyne/pointcloud2topic and save each message in the current directory. File names look like1285627014.833100319.pcd, the exact names depending on the message time stamps. rosrun pcl_ros pointcloud_to_pcdinput:...
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...
(2)convert_pcd_to_image 用法:rosrun pcl_ros convert_pcd_to_image <cloud.pcd> 加载一个PCD文件,将其作为ROS图像消息每秒中发布五次。 (3) convert_pointcloud_to_image 用法:rosrun pcl_ros convert_pointcloud_to_image input:=/my_cloud output:=/my_image 查看图像:rosrun image_view image_view...
If <interval> is zero or not specified the message is published once.加载一个PCD文件,发布一次或多次作为ROS点云消息(5) pointcloud_to_pcd例如: rosrun pcl_ros pointcloud_to_pcdinput:二/velodyne/pointcloud2订阅一个ROS的话题和保存为点云PCD文件。每个消息被保存到一个单独的文件,名称是由一个可自...
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(); ...
读取一个包文件,保存所有ROS点云消息在指定的PCD文件中。 (2)convert_pcd_to_image 用法:rosrun pcl_ros convert_pcd_to_image <cloud.pcd> 加载一个PCD文件,将其作为ROS图像消息每秒中发布五次。 (3) convert_pointcloud_to_image 用法:rosrun pcl_ros convert_pointcloud_to_image input:=/my_cloud out...
("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...
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 ...