PCL点云数据类型及其转换

传感器数据类型: sensor_msgs::PointCloud2   sensor_msgs::PointCloud

PCL库中标准数据类型：pcl::PointCloud<PointXYZ>  pcl::PointCloud<PointXYZI>等等 可自定义

传感器类型和库类型的转换

1. ROS转PCL数据格式

• sensor_msgs::PointCloud2转pcl::PCLPointCloud2

pcl_conversions::toPCL(sensor_msgs::PointCloud2, pcl::PCLPointCloud2);

• sensor_msgs::PointCloud2转pcl::PointCloud<pcl::PointXYZ>

pcl::fromROSMsg(sensor_msg::PointCloud2,pcl::PointCloud<pcl::PointXYZ>);

　　2.PCL转ROS数据格式

• pcl::PointCloud2转sensor_msgs::PointCloud2

pcl::conversions::fromPCL(pcl::PCLPointCloud2,sensor_msgs::PointCloud2);

• pcl::PointCloud<pcl::PointXYZ>转sensor_msgs::PointCloud2

pcl::toROSMsg(pcl::PointCloud<pcl::PointXYZ>,sensor_msgs::PointCloud2);

　　3.PCL中数据互转

• pcl::PCLPointCloud2转pcl::PointCloud<pcl::PointXYZ>

pcl::fromPCLPointCloud2(pcl::PCLPointCloud2,pcl::PointCloud<pcl::PointXYZ>);

• pcl::PointCloud<pcl::PointXYZ>转pcl::PCLPointCloud2

pcl::toPCLPointCloud2(pcl::PointCloud<pcl::PointXYZ>,pcl::PCLPointCloud2)

点云对象和点云指针对象之间的转换

点云--->点云指针

//点云对象

pcl::PointCloud<pcl::PointXYZ> cloud;

//点云指针对象

pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPtr (new pcl::PointCloud<pcl::PointXYZ>);

//转换

cloud = * cloudPtr;

cloudPtr = cloud.makeShared();