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ROS环境下采用PCL点云库对PCD格式点云进行滤波、旋转和平移等处理,并用RVIZ实时显示_彼岸浪花的博客-CSDN博客_pcl点云平移旋转
<launch>
<param name="output_frame_id" value = "map" /> # 设置frame_id
<param name="pointCloud_pubTopic" value = "/handle_point" /> # 设置处理后点云的输出话题名
<param name="pcd_doc_path" value = "/home/wcc/SLAM/map_result/lio_sam/GlobalMap.pcd" /> # 设置所要加载的PCD文件路径,此处需要用自己的PCD文件路径替换此路径
<param name="output_pcd_path" value = "/home/wcc/csdn/read_pcd/catkin_ws/pcd/output.pcd" /> # 设置处理完之后点云输出的PCD文件路径,此处需根据自己的路径进行修改
<param name="pass_x_min" value = "-100.0" /> # 设置直通滤波器进行X轴滤波时X的最小值
<param name="pass_x_max" value = "100.0" /> # 设置直通滤波器进行X轴滤波时X的最大值
<param name="pass_y_min" value = "-100.0" /> # 设置直通滤波器进行Y轴滤波时Y的最小值
<param name="pass_y_max" value = "100.0" /> # 设置直通滤波器进行Y轴滤波时Y的最大值
<param name="pass_z_min" value = "-1.0" /> # 设置直通滤波器进行Z轴滤波时Z的最小值
<param name="pass_z_max" value = "30.0" /> # 设置直通滤波器进行Z轴滤波时Z的最大值
<param name="voxel_size" value = "0.1" /> # 设置滤波时创建的体素体积值,单位(M)
<param name="sor_nearby_number" value = "10" /> # 设置在进行统计时考虑查询点临近点数
<param name="sor_thresh_value" value = "5.0" /> # 设置判断是否为离群点的阀值
<param name="x_rotate_value" value = "0.0" /> # 设置整体点云绕X轴旋转的角度值
<param name="y_rotate_value" value = "0.0" /> # 设置整体点云绕y轴旋转的角度值
<param name="z_rotate_value" value = "0.0" /> # 设置整体点云绕z轴旋转的角度值
<param name="x_trans_value" value = "0.0" /> # 设置整体点云绕x轴平移的距离值
<param name="y_trans_value" value = "20.0" /> # 设置整体点云绕y轴平移的距离值
<param name="z_trans_value" value = "0.0" /> # 设置整体点云绕z轴平移的距离值
<node pkg="read_pcd" name="read_pcd" type="read_pcd" output="screen" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find read_pcd)/rviz/read_pcd.rviz" />
</launch>
路径中不能有中文,否则会报错