stringname #属性的名字,比如点云包含‘x’,'y','z'这些,具体看实例 uint32offset #由于实际点在PointCloud2消息中排列是一维数组的形式,偏移量有助于区分点之间的信息 uint8datatype #属性的数据类型,可选的是上面的8个枚举类型 uint32count #属性的个数,这里我也没有完全搞懂(TODO...) boolis_bigendian...
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...
uint8[] data #压缩后的数据 sensor_msgs/PointCloud2: sensor_msgs/PointCloud2 用于表示点云数据,这些数据通常由激光雷达或深度相机等传感器采集。这个消息包括点云的位置信息、颜色信息、时间戳等。 以下是 sensor_msgs/PointCloud2 消息的字段: header:消息头,包括时间戳和坐标系信息。 height:点云数据的高度,...
1. ros的订阅sensor_msgs::PointCloud2的topic保存为.pcd格式点云 1.1. rostopic查看主题名称 rostopic list -v 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。
point_cloud_publisher_ = node_.advertise<sensor_msgs::PointCloud2> ("/cloud2", 100, false);//此处的tf是 laser_geometry 要⽤到的 tfListener_.setExtrapolationLimit(ros::Duration(0.1));//前⾯提到的通过订阅PointCloud2，直接转化为pcl::PointCloud的⽅式 pclCloud_sub_ = node_.subscribe<...
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 ...
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 w...
将pointcloud2数据转换为opencv图像 、、、 我正在尝试将从2D激光扫描仪获得的数据转换为openCV图像。在网上搜索时,我发现首先必须将激光扫描数据转换为pointcloud2,然后将pointcloud2转换为ROS图像,然后将ROS图像转换为opencv图像。目前,我无法访问激光雷达,因此我创建了一个发布假pointcloud2数据的节点。然而,我不明...
sensor_msgs::PointCloud2 cloud;/*laser_geometry包中函数,将 sensor_msgs::LaserScan 转换为 sensor_msgs::PointCloud2*///普通转换//projector_.projectLaser(*scan, cloud);//使用tf的转换projector_.transformLaserScanToPointCloud("laser", *scan, cloud, tfListener_);introw_step =cloud.row_step;int...