Aloam保存全局点云地图

最新推荐文章于 2024-07-16 17:41:00 发布

接slam算法定制

最新推荐文章于 2024-07-16 17:41:00 发布

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本文链接：https://blog.csdn.net/2301_76199290/article/details/139302329

版权

添加库

#include <signal.h>

定义点云保存函数和中断回调函数

pcl::PointCloud<PointType>::Ptr laserCloudSurround(new pcl::PointCloud<PointType>());

void savePointCloud(const std::string &filename) {
    if (pcl::io::savePCDFileBinary(filename, *laserCloudSurround) == -1) {
        PCL_ERROR("Couldn't write file %s\n", filename.c_str());
    } else {
        std::cout << "Saved " << laserCloudSurround->points.size() << " data points to " << filename << std::endl;
    }
}

void signalHandler(int signum) {
    std::cout << "Interrupt signal (" << signum << ") received.\n";
    savePointCloud("laserCloudSurround.pcd");
    // Terminate program
    exit(signum);
}

主函数中注册中断信号回调函数

int main(int argc, char **argv) {
    ros::init(argc, argv, "laserMapping");
    ros::NodeHandle nh;

    // Register signal handler
    signal(SIGINT, signalHandler);
    signal(SIGTERM, signalHandler);

    ros::Subscriber subLaserCloudCornerLast = nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_corner_last", 100, laserCloudCornerLastHandler);

    std::thread mapping_process{process};

    ros::spin();

    // Wait for the mapping thread to finish
    if (mapping_process.joinable()) {
        mapping_process.join();
    }

    return 0;
}