在ros中发布彩色点云（python）

最新推荐文章于 2023-08-29 09:09:47 发布

Bellamy_xxx

最新推荐文章于 2023-08-29 09:09:47 发布

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文章标签： python 开发语言

本文链接：https://blog.csdn.net/qq_44992157/article/details/130662947

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该代码段展示了一个在ROS环境中创建并发布带有颜色信息的3D点云数据的函数。它首先定义了点云消息的结构，包括坐标(x,y,z)和RGB颜色值，然后将数据填充到消息中并通过Publisher节点进行发布。

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import rospy
import sensor_msgs.point_cloud2 as pc2
from sensor_msgs.msg import PointCloud2, PointField

def publish_colored_point_cloud(points, colors):
    assert len(points) == len(colors), "Points and colors must have the same length"

    # 创建PointCloud2消息
    msg = PointCloud2()
    msg.header.stamp = rospy.Time.now()
    msg.header.frame_id = 'your_frame_id'
    msg.height = 1
    msg.width = len(points)
    msg.is_dense = True

    fields = [
        PointField(name='x', offset=0, datatype=PointField.FLOAT32, count=1),
        PointField(name='y', offset=4, datatype=PointField.FLOAT32, count=1),
        PointField(name='z', offset=8, datatype=PointField.FLOAT32, count=1),
        PointField(name='rgb', offset=12, datatype=PointField.UINT32, count=1)
    ]
    msg.fields = fields

    # 将点和颜色信息填充到消息中
    point_data = []
    for i in range(len(points)):
        x, y, z = points[i]
        r, g, b = colors[i]
        rgb = (int(r) << 16) | (int(g) << 8) | int(b)
        point_data.append([x, y, z, rgb])

    msg.data = np.asarray(point_data, dtype=np.float32).tobytes()

    # 发布消息
    pub.publish(msg)

if __name__ == '__main__':
    rospy.init_node('colored_point_cloud_publisher')
    pub = rospy.Publisher('/colored_point_cloud', PointCloud2, queue_size=1)

    # 假设您有点和颜色数据
    points = [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]  # 点的位置
    colors = [[255, 0, 0], [0, 255, 0]]  # 点的颜色

    while not rospy.is_shutdown():
        publish_colored_point_cloud(points, colors)
        rospy.sleep(1.0)