PCL、ROS等各种类型的点云之间的转换

本文转载自 PCL、ROS等各种类型的点云之间的转换 https://zhuanlan.zhihu.com/p/55958811

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pcl::PointCloud< pcl::PointXYZ > pcl的点云
pcl::PCLPointCloud2 pcl的第二种点云
sensor_msgs::PointCloud2 ROS中的点云
sensor_msgs::PointCloud ROS中的点云

1. sensor_msgs::PCLPointCloud2 <=> pcl::PCLPointCloud2

void pcl_conversions::toPCL(const sensor_msgs::PointCloud2 &, pcl::PCLPointCloud2 &)

void pcl_conversions::moveFromPCL(const pcl::PCLPointCloud2 &, const sensor_msgs::PointCloud2 &);

2. pcl::PCLPointCloud2 <=> pcl::PointCloudpcl::PointXYZ

void pcl::fromPCLPointCloud2(const pcl::PCLPointCloud2 &, pcl::PointCloud<pointT> &);

void pcl::toPCLPointCloud2(const pcl::PointCloud<pointT> &, pcl::PCLPointCloud2 &);

3. sensor_msgs::PCLPointCloud2 <=> pcl::PointCloudpcl::PointXYZ

void pcl::fromROSMsg(const sensor_msgs::PointCloud2 &, pcl::PointCloud<T> &);

void pcl::toROSMsg(const pcl::PointCloud<T> &, sensor_msgs::PointCloud2 &);

这2个函数实际上都是inline函数，调用的就是1. 2.的方法。

4. sensor_msgs::PointCloud2 <=> sensor_msgs::PointCloud

static bool sensor_msgs::convertPointCloudToPointCloud2(const sensor_msgs::PointCloud & input,sensor_msgs::PointCloud2 & output);

static bool sensor_msgs::convertPointCloud2ToPointCloud(const sensor_msgs::PointCloud2 & input,sensor_msgs::PointCloud & output);

#include <sensor_msgs/point_cloud_conversion.h>