msg = PointCloud2() msg.header.frame_id = frame_id msg.height = 1 msg.width = len(points) msg.fields.append(PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1)) msg.fields.append(PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1)) msg.fields...
import numpy as np import open3d as o3d def points_to_pointcloud2(points, frame_id): msg = PointCloud2() msg.header.frame_id = frame_id msg.height = 1 msg.width = len(points) msg.fields.append(PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1)) msg.fields....
在回调函数中,首先使用后面定义的read_point()函数将传入的PointCloud2消息对象msg列表读入到numpy数组中,然后利用Open3D库对该numpy数组表示的点云数据进行可视化,其具体步骤包括:首先调用构造函数中创建的Open3D可视化对象self.vis的remove_geometry()方法清空点云对象self.o3d_pcd中的几何体;接着调用Open3D库的utilit...
ObstacleLayer内可以加载多种传感器的障碍物观测数据。但是数据类型只支持PointCloud2和LaserScan。其中LaserScan类型的数据会被转换成PointCloud2类型数据。因为ObservationBuffer只存储PointCloud2类型数据。 ObstacleLayer内有下面几个层级参数需要关注一下: 代码语言:yaml 复制 declareParameter("enabled",rclcpp::ParameterValu...
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<...
voidOctomapProject::OctomapCallback(constsensor_msgs::msg::PointCloud2::SharedPtr msg){// pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_after_PassThrough(new pcl::PointCloud<pcl::PointXYZ>);} voidOctomapProject::EachGridmap(){PassThroughFilter(false);SetMa...
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(); ...
void OctomapProject::OctomapCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg) { // pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_after_PassThrough(new pcl::PointCloud<pcl::PointXYZ>); } void OctomapProject::EachGridmap() ...
#include <sensor_msgs/PointCloud2.h> main (intargc,char**argv) { ros::init (argc, argv,"pcl_create"); ros::NodeHandle nh; ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1); pcl::PointCloud<pcl::PointXYZ> cloud; ...
ros中sensor_msgs/PointCloud2点云类型格式 首先给出该类型包含的字段 std_msgs/Header header #ros标头,包含了时间戳、frame_id等信息 uint32seq time stamp stringframe_id uint32height #高度,表示设备具有的垂直通道数量 uint32width #宽度,表示每个垂直通道的点数...