PCL点云学习（一）

１代码段

1.1 PCD文件

/*1*/
/*把每一帧的/laser_tilt_cloud的话题保存在pointclouds文件夹，文件名为ROS系统时间*/
rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds

/*2*/
/*两种存储PCD文件的方法，第二种以二进制存储使用更少空间*/
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::savePCDFileBinary("pcd.pcd", *cloud);
pcl::io::savePCDFileASCII ("pcd.pcd", *cloud);

/*3*/
/*读取PCD文件*/
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("pcd.pcd", *cloud);

1.2 两种ROS转PCL方式

/*1*/
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);	  
pcl::fromROSMsg(input, *cloud);
int num = cloud->points.size ();
viewer.showCloud(cloud);
sensor_msgs::PointCloud2 output;
pcl::toROSMsg(*cloud, output);
output.header.frame_id = "pcl";
pcl_pub.publish(output);

/*2*/
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::fromROSMsg (input, cloud);
int num = cloud.points.size ();
viewer.showCloud(cloud.makeShared());
sensor_msgs::PointCloud2 output;
pcl::toROSMsg(cloud, output);
output.header.frame_id = "pcl";
pcl_pub.publish(output);

/*3*/
/*pcl::PointCloud::Ptr和pcl::PointCloud类型相互转换*/
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud = *cloudPointer;
cloudPointer = cloud.makeShared();

1.2 PointCloud和PCLPointCloud2类型相互转换

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2 cloud2;
pcl::fromPCLPointCloud2(cloud2, *cloud);
pcl::toPCLPointCloud2(*cloud, cloud2);

2 小波变换