https://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/ 分类:激光slam笔记 好文要顶关注我收藏该文微信分享 一抹烟霞 粉丝-250关注 -7 +加关注 0 0 «上一篇:PCL —— (2)自带的点云类型PointT
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>::Ptr cloud_...
ros::Publisher pub;voidcloud_cb (constsensor_msgs::PointCloud2ConstPtr& input) { // 将点云格式为sensor_msgs/PointCloud2 格式转为 pcl/PointCloudpcl::PointCloud<pcl::PointXYZ> cloud; pcl::fromROSMsg (*input, cloud);//关键的一句数据的转换pcl::ModelCoefficients coefficients;//申明模型的参数...
Ptrtemp_cloud(newpcl::PointCloud<pcl::PointXYZ>);pcl::fromROSMsg(*cloud,*temp_cloud);// orpcl::PCLPointCloud2pcl_pc2;pcl_conversions::toPCL(*cloud,pcl_pc2);pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);//do stuffROS_INFO("received %ld points",temp_cloud->points.size());}voidpoin...
pcl::PointCloud<pcl::PointXYZ> cloud; sensor_msgs::PointCloud2 output; // Fill in the cloud data cloud.width = 100; cloud.height = 1; cloud.points.resize(cloud.width * cloud.height); for(size_ti = 0; i < cloud.points.size (); ++i) ...
cloud.points[i].z = msg.detection_array[i].f_z; } } // 转换为 PointCloud2 消息 sensor_msgs::msg::PointCloud2 msg2; pcl::toROSMsg(cloud, msg2); msg2.header.frame_id = "map"; // 设置坐标系 // msg2.header.stamp = now(); ...
我正在尝试从 ROS 中的 kinect 对点云进行一些分割。截至目前我有这个: {代码...} 这似乎可行,但由于 for 循环,速度非常慢。我的问题是: 我如何有效地从 PointCloud2 消息转换为 pcl 点云 2)我如何想象云。 ...
ros 点云和PCL 点云的转换 pointcloud2 pointcloud<> 2020-07-07 11:25 −... 一抹烟霞 0 3047 【ROS】安装ubuntu18.04+ros-melodic 2019-12-15 10:34 −安装Ubuntu 下载镜像 https://ubuntu.com/download/desktop 安装镜像 可以装虚拟机或双系统 更换源 软件更新 安装chrome https://www.google.cn/...
class PclSub : public rclcpp::Node { public: PclSub(std::string name) : Node(name) { sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("sexy_girl", 10, std::bind(&PclSub::topic_callback, this, std::placeholders::_1)); ...
Hello, I followed this tutorial using PCL libraries to perform the conversion from point cloud into a ROS readable message PointCloud2. After compiling and running the example everything works, but I can't see anything on RViz. I have been trying to catch the error but n...