书籍参考:ROS机器人程序设计第2版
工作空间中加载PCL程序
在ROS工作空间src文件夹下放入PCL文件夹,里面用来放PCL.cpp的文件
在PCL文件夹中的CMakeList.txt文件中加入PCL库
find_package(PCL REQUIRED)
catkin_package()
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
添加产生可执行程序和链接到合适的库的代码
add_executable(pcl_create src/pcl_create.cpp)
target_link_libraries(pcl_create ${catkin_LIBRARIES} ${PCL_LIBRARIES})
读取PCD格式文件
利用PCL的API读取PCD文件
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>
main(int argc, char **argv)
{
ros::init (argc, argv, "pcl_read");
ros::NodeHandle nh;
ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1);
sensor_msgs::PointCloud2 output;
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::io::loadPCDFile ("test_pcd.pcd", cloud);
pcl::toROSMsg(cloud, output);
output.header.frame_id = "odom";
ros::Rate loop_rate(1);
while (ros::ok())
{
pcl_pub.publish(output);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
可视化点云
程序示例:
#include <iostream>
#include <ros/ros.h>
#include <pcl/visualization/cloud_viewer.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
//将所有函数封装在一个类中,提供一个使用回调函数分享变量的简介方式
class cloudHandler
{
public:
cloudHandler()
: viewer("Cloud Viewer")
{
pcl_sub = nh.subscribe("pcl_output", 10, &cloudHandler::cloudCB, this);
//创建topic为pcl_output,处理队列为10,&cloudHandler::cloudCB回调函数地址,this回调函数所处的类即此类
viewer_timer = nh.createTimer(ros::Duration(0.1), &cloudHandler::timerCB, this);
//设置一个定时器,每100ms会触发一次回调,定时器用来周期性检查窗口是否关闭,如果关闭则终止代码
}
//PCL点云通过showCloud函数直接传递给查看器,查看器自动更新显示
void cloudCB(const sensor_msgs::PointCloud2 &input)
{
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::fromROSMsg(input, cloud);
viewer.showCloud(cloud.makeShared());
}
//timerCB回调函数通过一个ROS定时器每隔100ms调用一次
void timerCB(const ros::TimerEvent&)
{
if (viewer.wasStopped())//如果查看器关闭了,我们的动作则是终止节点
{
ros::shutdown();
}
}
protected:
ros::NodeHandle nh;
ros::Subscriber pcl_sub;
pcl::visualization::CloudViewer viewer;
ros::Timer viewer_timer;
};
main (int argc, char **argv)
{
ros::init (argc, argv, "pcl_visualize");
cloudHandler handler;
ros::spin();
return 0;
}