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); sensor_m...
// 根据 sensor_msgs/PointField[] fields 信息对 sensor_msgs::PointCloud2 信息进行解析intpointBytes=msg->point_step;for(intp=0;p<msg->width*msg->height;++p){robosense_ros::RS_PointtmpPoint;tmpPoint.x=*(float*)(&msg->data[0]+(pointBytes*p)+offset_x);tmpPoint.y=*(float*)(&msg->d...
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 ...
1.2. 启动pcl_ros包下的pointcloud_to_pcd节点保存点云 rosrun pcl_ros pointcloud_to_pcd /input:=/globalmap 注意: 参数/input:=/global_map 中的/global_map 改为你需要保存的topic。 点云文件默认保存到当前终端所在文件夹,点云最后的保存形式为时间戳.pcd。 2. ros的订阅sensor_msgs::Image的topic保...
int height = cloud.height;/*将 sensor_msgs::PointCloud2 转换为 pcl::PointCloud<T> */ //注意要⽤fromROSMsg函数需要引⼊pcl_versions（见头⽂件定义）pcl::PointCloud<pcl::PointXYZ> rawCloud;pcl::fromROSMsg(cloud, rawCloud);for(size_t i = 0; i < rawCloud.points.size(); i++)...
Much of our visualization is based on the older sensor_msgs/PointCloud message type (costmap has a number of data visualization topics that use it, as does the DWB controller). In ROS Foxy this message has been deprecated. I'm not sure when they anticipate removing it, but we should ...
I also noticed you didn't use the PC2 Modifier object: https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.hpp#L47-L70 Is there a reason for that? It may have made some things simpler, it'll handle some of the field stuff for ...
是指在ROS(机器人操作系统)中,通过订阅sensor_msgs/Image和sensor_msgs/CameraInfo消息格式来获取图像和相机信息。 sensor_msgs/Image消息格式是...
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/...