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realsense保存的点云pcd文件:rgb值(uint格式)换算成r g b(int格式)的小程序
realsense D435i保存的点云文件xxx.pcd,有时候需要对数据进行处理,发现rgb的TYPE值为U,如下格式:# .PCD v0.7 - Point Cloud Data file formatVERSION 0.7FIELDS x y z rgbSIZE 4 4 4 4TYPE F F F UCOUNT 1 1 1 1WIDTH 118294HEIGHT 1VIEWPOINT 0 0 0 1 0 0 0POINTS 118294DATA ascii-0.3572723原创 2021-06-01 18:02:17 · 1003 阅读 · 4 评论 -
realsenseD435i 通过rviz显示滤波前后点云数据
一、创建workspace+修改package.xml+修改CMakeLists .txt1.创建工作空间mkdir -p ~/catkin_ws/srccd ~/.catkin_ws/srccatkin_init_workspace2.创建功能包catkin_create_pkg my_pcl_tutorial pcl_conversions pcl_ros roscpp sensor_msgs3.编写.cpp文件cd my_pcl_tutorialgedit example.cpp在原创 2020-11-24 20:50:16 · 2210 阅读 · 5 评论