ROS中PointCloud转换为PointCloud2类型 引用头文件 首先,引用对应的头文件: #include <sensor_msgs/PointCloud2.h>#include <sensor_msgs/PointCloud.h>#include <sensor_msgs/point_cloud_conversion.h> 定义接听/发布 ros::Subscriber subMMWCloud;ros::Publisher pubLaserCloud;subMMWCloud = nh.subscribe<sensor...
How can I convert a point cloud saved in rosbag, in format sensor_msgs/PointCloud2, to .bin files in KITTI format? I know that it is possible to convert to .pcd (http://wiki.ros.org/pcl_ros#pointcloud_to_pcd) so perhaps even a pcd to bin converter would be enough. Is there...
1. sensor_msgs::PCLPointCloud2 <=> pcl::PointCloud<pcl::PointXYZ> 把ROS PointCloud2 转为 PCL 第一代 PointCloud,方便用 PCL 库处理: void pcl::fromROSMsg(const sensor_msgs::PointCloud2 &, pcl::PointCloud<T> &); 比如: // ROS 点云 sensor_msgs::PointCloud2::ConstPtr& cloud_msg;...
1. sensor_msgs::PCLPointCloud2 <=> pcl::PointCloudpcl::PointXYZ 把ROS PointCloud2 转为 PCL 第一代 PointCloud,方便用 PCL 库处理: voidpcl::fromROSMsg(constsensor_msgs::PointCloud2 &, pcl::PointCloud<T> &); 比如: // ROS 点云sensor_msgs::PointCloud2::ConstPtr& cloud_msg;// PCL...
pointcloud_pub_sub::~pointcloud_pub_sub(){}voidpointcloud_pub_sub::initializePublishers(){pub=nh.advertise<sensor_msgs::PointCloud2>(pointcloud_topic,10);}voidpointcloud_pub_sub::initializeSubscribers(){sub=nh.subscribe(pointcloud_topic,10,&pointcloud_pub_sub::callback,this);}voidpointcloud...
发布的是/velodyne_points消息,类型为sensor_msgs/PointCloud2 3.启动pointcloud_to_laserscan节点和利用rosbag回放激光数据 #terminal1rocore #terminal2rosbag plag out.bag 之后启动rviz 和 pointcloud_to_laserscan节点 #terminal3rosrun rviz rviz #terminal4roslaunch pointcloud_to_laserscan point_to_scan.launc...
pcl::PointCloud<pcl::PointXYZ>cloud;pcl::SACSegmentation<pcl::PointXYZ>seg;***seg.setInputCloud(cloud.makeShared()); 总结一下PCL中提供的点云数据格式之间的转换 (1) voidpcl::fromPCLPointCloud(constpcl:PCLPointCloud2 & msgpcl::PointCloud<PointT> & cloudconstMsgFieldMap & filed_map) (...
pcl::PointCloud<T>或pcl::PCLPointCloud2转换为sensor_msgs::PointCloud2。 pcl::PointCloud<T>转换为sensor_msgs::PointCloud。 通过这些转换,可以在 PCL 中处理点云数据后,再将其发布到 ROS 系统,或者将 ROS 系统中的点云数据引入到 PCL 中进行处理。
cloud.points[i].x = i; cloud.points[i].y = i*i; cloud.points[i].z = 1; } pcl::toROSMsg(cloud, cloud2); 3. 将sensor_msgs::PointCloud2类型的消息转换为pcl::PointCloud<pcl::PointXYZ>类型 pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud(new pcl::PointCloud<pcl::PointXYZ>); ...
point_cloud2 as pc2 import ros_numpy as rn import numpy as np import pcl def point_cloud_...