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]...
记录关于我们运行roslaunch openni_launch openni.launch 命令时生成的话题以及这些话题的数据类型便于后...
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/ 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_...
(5)pointcloud_to_pcd 例如: rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2 订阅一个ROS的话题和保存为点云PCD文件。每个消息被保存到一个单独的文件,名称是由一个可自定义的前缀参数,ROS时间的消息,和以PCD扩展的文件。 那么我们使用一个简单的例子来实现在ROS中进行平面的分割,同时注意到...
pcd=pcl.load_pcd(pcd文件名)msg=pcd.to_msg() pcd.to_msg()方法会返回一个PointCloud2类型的对象, 该对象就是ros中的PointCloud2对象, 也就表示可以直接将返回的msg对象 写入到bag包中. 完整代码 importpclpcd=pcl.load_pcd("binary_data_pcd.pcd")msg=pcd.to_msg() ...
这一章依据了激光雷达常用的PCL函数库,以及octomap函数库.这里给出在ubuntu20下的octomap的安装步骤: 使用git从github下载OctoMap库。 git clone https://github.com/OctoMap/octomap 1. OctoMap的编译依赖于以下几个库 sudo apt-get install build-essential cmake doxygen libqt4-dev \ ...
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...