1. 如何将二维激光雷达数据转化为三维点云,主要用到laser_geometry
// laser_geometry
void transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out, tf::Transformer &tf, int channel_options=channel_option::Default)
transformLaserScanToPointCloud代码
2. 用法示例:
#include <iostream>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <laser_geometry/laser_geometry.h>
#