ROS/PCL条件滤波

最新推荐文章于 2024-07-26 17:48:22 发布

mason_55

最新推荐文章于 2024-07-26 17:48:22 发布

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分类专栏： PCL 文章标签：编程

本文链接：https://blog.csdn.net/tuilun7729/article/details/78593394

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本文介绍了如何使用ROS（Robot Operating System）与Point Cloud Library（PCL）结合，进行高级的点云数据处理，特别是通过条件滤波来去除噪声，提升机器人感知系统的精度。内容涵盖ROS消息类型、PCL滤波器的使用方法及其在实际应用中的效果分析。

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#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>

#include <pcl/sample_consensus/model_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/segmentation/sac_segmentation.h>

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>

using namespace pcl;
using namespace std;

ros::Publisher pub;

void HSVtoRGB(int *r, int *g, int  *b, int h, int s, int v)  
    {  
        // convert from HSV/HSB to RGB color  
        // R,G,B from 0-255, H from 0-360, S,V from 0-100  
        // ref http://colorizer.org/  

        // The hue (H) of a color refers to which pure color it resembles  
        // The saturation (S) of a color describes how white the color is  
        // The value (V) of a color, also called its lightness, describes how dark the color is