Point Cloud IO 项目使用教程

Point Cloud IO 项目使用教程

point_cloud_ioROS nodes to read and write point clouds from and to files (e.g. ply, vtk).项目地址:https://gitcode.com/gh_mirrors/po/point_cloud_io

1. 项目的目录结构及介绍

Point Cloud IO 项目的目录结构如下：

point_cloud_io/
├── CMakeLists.txt
├── launch/
│   ├── example_read.launch
│   ├── example_write.launch
│   └── ...
├── package.xml
├── src/
│   ├── read_node.cpp
│   ├── write_node.cpp
│   └── ...
└── ...

目录结构介绍

• CMakeLists.txt: 用于构建项目的 CMake 配置文件。
• launch/: 包含项目的启动文件，如 example_read.launch 和 example_write.launch。
• package.xml: 描述项目的依赖和元数据。
• src/: 包含项目的源代码文件，如 read_node.cpp 和 write_node.cpp。

2. 项目的启动文件介绍

example_read.launch

该文件用于启动读取点云数据的节点，示例如下：

<launch>
  <node name="read_node" pkg="point_cloud_io" type="read" output="screen">
    <param name="file_path" value="/path/to/your/point_cloud.ply"/>
    <param name="topic" value="/your_topic"/>
    <param name="frame" value="sensor_frame"/>
  </node>
</launch>

example_write.launch

该文件用于启动写入点云数据的节点，示例如下：

<launch>
  <node name="write_node" pkg="point_cloud_io" type="write" output="screen">
    <param name="topic" value="/your_topic"/>
    <param name="file_path" value="/path/to/save/your/point_cloud.ply"/>
  </node>
</launch>

3. 项目的配置文件介绍

package.xml

该文件描述了项目的依赖和元数据，示例如下：

<package>
  <name>point_cloud_io</name>
  <version>0.1.0</version>
  <description>A ROS package for reading and writing point cloud data.</description>
  <maintainer email="maintainer@example.com">Maintainer Name</maintainer>
  <license>BSD</license>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>sensor_msgs</run_depend>
</package>

CMakeLists.txt

该文件用于配置项目的构建过程，示例如下：

cmake_minimum_required(VERSION 2.8.3)
project(point_cloud_io)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  sensor_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES point_cloud_io
  CATKIN_DEPENDS roscpp sensor_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(read_node src/read_node.cpp)
target_link_libraries(read_node ${catkin_LIBRARIES})

add_executable(write_node src/write_node.cpp)
target_link_libraries(write_node ${catkin_LIBRARIES})

以上是 Point Cloud IO 项目的基本使用教程，涵盖了项目的目录结构、启动文件和配置文件的介绍。希望对您有所帮助。

point_cloud_ioROS nodes to read and write point clouds from and to files (e.g. ply, vtk).项目地址:https://gitcode.com/gh_mirrors/po/point_cloud_io