✅ 1. 订阅PointCloud2并转换为pcl::PointCloud<pcl::PointXYZ> 解释: sensor_msgs::msg::PointCloud2是 ROS 2 点云消息格式,PCL 不能直接处理。 pcl::fromROSMsg()将PointCloud2转换为pcl::PointCloud<pcl::PointXYZ>。 代码: #include <pcl_conversions/pcl_conversions.h> #include <pcl/point_cloud...
import rospy import pcl from sensor_msgs.msg import PointCloud2 import sensor_msgs.point_cloud2 as pc2 def on_new_point_cloud(data): pc = pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z")) pc_list = [] for p in pc: pc_list.append( [p[0],p[1],p[2]...
pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(newpcl::PointCloud<pcl::PointXYZ>); pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);//do stuff with temp_cloud here} http://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/...
https://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/
问如何有效地将ROS PointCloud2转换为PCL点云并在python中可视化EN记录关于我们运行roslaunch openni_...
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)); ...
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_...
subscribe(pointcloud_topic, 10, &pointcloud_pub_sub::callback, this); } void pointcloud_pub_sub::callback(const sensor_msgs::PointCloud2ConstPtr &cloud) { pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::fromROSMsg(*cloud, *temp_cloud); ...
size()); cloud->height = 1; cloud->is_dense = true; // 将PCL点云转换为ROS PointCloud2消息 sensor_msgs::msg::PointCloud2 point_cloud_msg; pcl::toROSMsg(*cloud, point_cloud_msg); // 发布PointCloud2消息 this->point_cloud_pub_->publish(point_cloud_msg); } 在...
ROS几乎完全是从头开始构建的,自2007年以来一直由Willow Garage [7]和开源机器人基金会(OSRF)[2]维护.ROS提高了生产力[12],提供发布/订阅传输,多个库(例如 ,OpenCV和Point Cloud Library(PCL)[3]),以及帮助软件开发人员创建机器人应用程序的工具。