ROS中PCL数据转换

ROS转PCL数据格式

• sensor_msgs::PointCloud2转pcl::PCLPointCloud2 [2]

pcl_conversions::toPCL(sensor_msgs::PointCloud2, pcl::PCLPointCloud2)

• sensor_msgs::PointCloud2转pcl::PointCloud< pcl::PointXYZ > [1]

pcl::fromROSMsg (sensor_msgs::PointCloud2, pcl::PointCloud<pcl::PointXYZ>);

PCL转ROS数据

• pcl::PCLPointCloud2转sensor_msgs::PointCloud2[2]

pcl_conversions::fromPCL(pcl::PCLPointCloud2, sensor_msgs::PointCloud2);

• pcl::PointCloud< pcl::PointXYZ >转 sensor_msgs::PointCloud2[1]

pcl::toROSMsg (pcl::PointCloud<pcl::PointXYZ>,sensor_msgs::PointCloud2);

PCL中数据互转 [3]

• pcl::PCLPointCloud2转pcl::PointCloud < pcl::PointXYZ >

pcl::fromPCLPointCloud2(pcl::PCLPointCloud2,pcl::PointCloud<pcl::PointXYZ>);

• pcl::PointCloud< pcl::PointXYZ >转pcl::PCLPointCloud2

pcl::toPCLPointCloud2(pcl::PointCloud<pcl::PointXYZ>, pcl::PCLPointCloud2);