ROS点云话题转化

钟烁卓

于 2025-05-19 19:07:05 发布

阅读量288

点赞数 13

分类专栏：软件开发文章标签：机器人 c++

本文链接：https://blog.csdn.net/linyu2016/article/details/148071148

版权

软件开发专栏收录该内容

8 篇文章

订阅专栏

0 资料

Ros点云格式转换总结

1 点云格式

sensor_msgs::PointCloud
sensor_msgs::PointCloud2
pcl::PointCloud<T>

2 转化

其中，PointCloud2和pcl::PointCloud可以相互转换，PointCloud和PointCloud2可以相互转换，PointCloud和pcl::PointCloud的转换需要使用PointCloud2中转。

sensor_msgs::PointCloud <----> sensor_msgs::PointCloud2 <----> pcl::PointCloud

2.1 PointCloud2 to PointCloud

#include "sensor_msgs/point_cloud_conversion.h"
static inline bool convertPointCloud2ToPointCloud (
		const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud &output);

2.2 PointCloud to PointCloud2

#include "sensor_msgs/point_cloud_conversion.h"
static inline bool convertPointCloudToPointCloud2 (
		const sensor_msgs::PointCloud &input, sensor_msgs::PointCloud2 &output)

2.3 pcl::PointCloud< T > to PointCloud2

#include "pcl_conversions/pcl_conversions.h"
template<typename T>
  void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::PointCloud2 &cloud)
  {
    pcl::PCLPointCloud2 pcl_pc2;
    pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
    pcl_conversions::moveFromPCL(pcl_pc2, cloud);
  }

2.4 PointCloud2 to pcl::PointCloud< T >

#include "pcl_conversions/pcl_conversions.h"
  template<typename T>
  void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
  {
    pcl::PCLPointCloud2 pcl_pc2;
    pcl_conversions::toPCL(cloud, pcl_pc2);
    pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
  }