assert isinstance(cloud, PointCloud2), 'cloud is not a sensor_msgs.msg.PointCloud2' fmt = _get_struct_fmt(cloud.is_bigendian, cloud.fields, field_names) width, height, point_step, row_step, data, isnan = cloud.width, cloud.height, cloud.point_step, cloud.row_step, cloud.data, mat...
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 sensor_msgs/PointField[] fields #类似C++中的结构体,每个字段对应一个点云的特定属性 ...
在回调函数中,通过点云数据中的点数据右乘构造函数中定义的旋转矩阵来实现对点云进行旋转,并使用后面定义的point_cloud()函数将存储在numpy数组变量self.points中的点云数据转换成sensor_msgs.msg.PointCloud2消息对象,然后调用发布者变量self.pcd_publisher的publish()方法将该消息对象发布到/pcd话题上。 然后定义了...
from sensor_msgs.msg import LaserScan, PointCloud2, PointField 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", o...
PointCloud2的data是序列化后的数据,直接看不到物理意义,可以转到PointCloud处理 #include<sensor_msgs/PointCloud2.h>#include<sensor_msgs/PointCloud.h>#include<sensor_msgs/point_cloud_conversion.h>sensor_msgs::PointCloud clouddata; sensor_msgs::convertPointCloud2ToPointCloud(msg, clouddata); ...
ObservationBuffer是一个障碍物观察数据的buffer。观测到的障碍物数据都将转成sensor_msgs::msg::PointCloud2格式,然后存储到ObservationBuffer中。 在ObservationBuffer里存储的历史障碍物数据可以根据想保持的时间来清空。期望保持的时间主要由变量observation_keep_time_来决定。如果设置成rclcpp::Duration(0.0s)则表示每次...
from sensor_msgs.msg import PointCloud2 from octomap_msgs.msg import Octomap from octomap_msgs.srv import GetOctomap class OctoMapper(Node): def __init__(self): super().__init__('octo_mapper') self.subscription = self.create_subscription( ...
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr detections_cloud_pub ; rclcpp::Logger global_logger = rclcpp::get_logger("global_logger"); // void objectReceive(const ars548_msg::ObjectList& msg) // { // uint size = msg.object_array.size(); ...
from sensor_msgs_pyimportpoint_cloud2 from std_msgs.msgimportHeaderclassPointCloudPublisher(Node):rate=30moving=True width=100height=100header=Header()header.frame_id='map'dtype=PointField.FLOAT32point_step=16fields=[PointField(name='x',offset=0,datatype=dtype,count=1),PointField(name='y',...
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...