点云预处理——滤波、旋转和平移等处理

目录

一、环境配置

二、步骤

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一、环境配置

安装好ubuntu系统和ROS环境

操作系统: Ubuntu 20.04

wget http://fishros.com/install -O fishros && . fishros 

二、步骤

打开终端，并在终端命令行输入以下指令:

git clone https://gitee.com/wccworld/read_pcd.git

cd read_pcd/catkin_ws
catkin_make

出现报错

• 没有pcl-conversions

sudo apt-get install ros-noetic-pcl-conversions

• 没有pcl-ros

pcl_ros

没有报错的话，继续

source devel/setup.bash

roslaunch read_pcd read_pcd.launch

找到所下载源码里的read_pcd.launch文件，只需对相应参数进行修改，便可实现PCL点云的滤波、体素降采样、移除离群点、旋转以及平移等操作，具体参数代表的内容如下所示:

<launch>
  <param name="output_frame_id" value = "map" />           
  <param name="pointCloud_pubTopic" value = "/handle_point" />
  <param name="pcd_doc_path" value = "/home/yang/read_pcd/catkin_ws/pcd/test.pcd" />
  <param name="output_pcd_path" value = "/home/yang/read_pcd/catkin_ws/pcd/output.pcd" />

  <param name="pass_x_min" value = "-100.0" />
  <param name="pass_x_max" value = "100.0" />
  <param name="pass_y_min" value = "-100.0" />
  <param name="pass_y_max" value = "100.0" />
  <param name="pass_z_min" value = "-1.0" />
  <param name="pass_z_max" value = "30.0" />
  <param name="voxel_size" value = "0.1" />
  <param name="sor_nearby_number" value = "10" />
  <param name="sor_thresh_value" value = "5.0" />
  <param name="x_rotate_value" value = "0.0" />
  <param name="y_rotate_value" value = "0.0" />
  <param name="z_rotate_value" value = "0.0" />
  <param name="x_trans_value" value = "0.0" />
  <param name="y_trans_value" value = "20.0" />
  <param name="z_trans_value" value = "0.0" />

  <node pkg="read_pcd" name="read_pcd" type="read_pcd" output="screen" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find read_pcd)/rviz/read_pcd.rviz" />
</launch>

出现报错

网上找了各种办法没有解决，我直接重新开始安装一遍。

还可以运行自己的数据，修改lanch文件就行。

<launch>
  <param name="output_frame_id" value = "map" />           
  <param name="pointCloud_pubTopic" value = "/handle_point" />
  <param name="pcd_doc_path" value = "/home/yang/kitti/datasets/pcd/0000000002.pcd" />
  <param name="output_pcd_path" value = "/home/yang/readpcd/read_pcd/catkin_ws/outpcd/output.pcd" />

  <param name="pass_x_min" value = "-100.0" />
  <param name="pass_x_max" value = "100.0" />
  <param name="pass_y_min" value = "-100.0" />
  <param name="pass_y_max" value = "100.0" />
  <param name="pass_z_min" value = "-1.0" />
  <param name="pass_z_max" value = "30.0" />
  <param name="voxel_size" value = "0.1" />
  <param name="sor_nearby_number" value = "10" />
  <param name="sor_thresh_value" value = "5.0" />
  <param name="x_rotate_value" value = "0.0" />
  <param name="y_rotate_value" value = "0.0" />
  <param name="z_rotate_value" value = "0.0" />
  <param name="x_trans_value" value = "0.0" />
  <param name="y_trans_value" value = "20.0" />
  <param name="z_trans_value" value = "0.0" />

  <node pkg="read_pcd" name="read_pcd" type="read_pcd" output="screen" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find read_pcd)/rviz/read_pcd.rviz" />
</launch>