pcl opencv ROS_message三者之间点云和图片类型转换总结

1.pcl::PointCloud<PointT>和pcl::PointCloud<PointT>::Ptr之间相互转换

pcl中点云常用的指针类型pcl::PointCloud<PointT>::Ptr和非指针类型pcl::PointCloud<PointT>　之间相互转换

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_Ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud;
//ptr->cloud
cloud=*cloud_Ptr;
//cloud->ptr
cloud_Ptr=cloud.makeShared;

2.PCL点云类型和ROS消息类型点云之间的转换

• pcl点云数据格式：
  pcl::PointCloud< PointT>
  pcl::PCLPointCloud2

• ros点云消息：
  snesor_msgs::PointCloud2

参考资料：https://blog.csdn.net/m0_45388819/article/details/113794706

3.OpenCV图片 cv::Mat 和 ros图片消息

cv::Mat转换成sensor_msgs::ImagePtr

cv::Mat img;
sensor_msgs::ImagePtr imgmsg = cv_bridge::CvImage(std_msgs::Header(), "bgr8",rgbimage).toImageMsg();

cv::Mat转换成sensor_msgs::Image

cv::Mat img;
sensor_msgs::Image imgmsg = *cv_bridge::CvImage(std_msgs::Header(), "bgr8",rgbimage).toImageMsg();

sensor_msgs::Image或者sensor_msgs::ImagePtr转换成cv::Mat

cv_bridge::CvImagePtr cv_ptr;
try{
//cv_bridge::toCvCopy()函数有多个重载函数，msg_image可以是指针也可以是一般类型
  cv_ptr = cv_bridge::toCvCopy(msg_image, sensor_msgs::image_encodings::BGR8);
}
catch(cv_bridge::Exception &e){
  return;
}
  cv::Mat rgbimg = cv_ptr->image;