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]] ) p = ...
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/...
要在ROS 2中安装PCL(Point Cloud Library),你需要按照以下步骤操作: 1. 确认ROS 2环境已正确安装并配置 确保你已经正确安装了ROS 2,并且环境变量已经配置好。你可以通过运行以下命令来检查ROS 2是否安装成功: bash ros2 --version 2. 安装PCL库依赖项 在安装PCL之前,你需要安装一些依赖项。这些依赖项可能因你...
{//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pcl::PointIndices inliers;//申明存储模型的内点的索引//创建一个分割方法pcl::SACSegmentati...
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_...
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_...
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)); ...
Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::fromROSMsg(*cloud, *temp_cloud); // or pcl::PCLPointCloud2 pcl_pc2; pcl_conversions::toPCL(*cloud, pcl_pc2); pcl::fromPCLPointCloud2(pcl_pc2, *temp_cloud); //do stuff ROS_INFO("received %ld points", temp_cloud->...
ros 点云和PCL 点云的转换 pointcloud2 pointcloud<> https://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/
PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS. 设计了在ros中使用pcl库的一些基础功能接口,可使直接通过nodelet进行调用pcl的一些功能[3] ,包含2个部分 (1) pcl_msgs: Package contain...