很高兴为您回答这个问题。在
ROS2中，将
深度图数据转换为三维标可以使用以下C++示例
代码：
```cpp
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/
image.hpp>
#include <geometry_msgs/msg/
point_
cloud2.hpp>
#include <
image_geometry/pinhole_camera_model.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_
ros/
point_
cloud.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
using namespace cv;
class
DepthToPCLNode : public rclcpp::Node
{
public:
DepthToPCLNode()
: Node("
depth_to_pcl_node") {
depth_camera_info_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>(
"camera_info", rclcpp::SensorDataQoS(),
std::bind(&
DepthToPCLNode::
depthCameraInfoCallback, this, std::placeholders::_1));
depth_
image_sub_ = this->create_subscription<sensor_msgs::msg::
Image>(
"
depth_
image", rclcpp::SensorDataQoS(),
std::bind(&
DepthToPCLNode::
depthImageCallback, this, std::placeholders::_1));
point_
cloud_pub_ = this->create_publisher<geometry_msgs::msg::
PointCloud2>(
"
point_
cloud", rclcpp::SensorDataQoS());
}
private:
void
depthCameraInfoCallback(const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg) {
image_geometry::PinholeCameraModel camera_model;
camera_model.fromCameraInfo(camera_info_msg);
fx_ = camera_model.fx();
fy_ = camera_model.fy();
cx_ = camera_model.cx();
cy_ = camera_model.cy();
camera_info_received_ = true;
}
void
depthImageCallback(const sensor_msgs::msg::
Image::SharedPtr
depth_
image_msg) {
if (!camera_info_received_) {
return;
}
cv_bridge::Cv
ImagePtr
depth_
image_ptr;
try {
depth_
image_ptr = cv_bridge::toCvCopy(
depth_
image_msg, sensor_msgs::
image_encodings::TYPE_32FC1);
}
catch (cv_bridge::Exception& e) {
RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
pcl::
PointCloud<pcl::
PointXYZ>::Ptr
point_
cloud(new pcl::
PointCloud<pcl::
PointXYZ>());
for (size_t v = 0; v <
depth_
image_ptr->
image.rows; ++v) {
for (size_t u = 0; u <
depth_
image_ptr->
image.cols; ++u) {
float
depth =
depth_
image_ptr->
image.at<float>(v, u);
if (!std::isnan(
depth) &&
depth > 0.0f) {
pcl::
PointXYZ
point_
cloud_
point;
point_
cloud_
point.x = (u - cx_) *
depth / fx_;
point_
cloud_
point.y = (v - cy_) *
depth / fy_;
point_
cloud_
point.z =
depth;
point_
cloud->
points.push_back(
point_
cloud_
point);
}
}
}
geometry_msgs::msg::
PointCloud2
point_
cloud_msg;
pcl::to
ROSMsg(*
point_
cloud,
point_
cloud_msg);
point_
cloud_msg.header =
depth_
image_msg->header;
point_
cloud_pub_->publish(
point_
cloud_msg);
}
rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr
depth_camera_info_sub_;
rclcpp::Subscription<sensor_msgs::msg::
Image>::SharedPtr
depth_
image_sub_;
rclcpp::Publisher<geometry_msgs::msg::
PointCloud2>::SharedPtr
point_
cloud_pub_;
bool camera_info_received_ = false;
float fx_, fy_, cx_, cy_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<
DepthToPCLNode>());
rclcpp::shutdown();
return 0;
}
```
这个示例
代码包括
ROS2中的所有必需头文件和订阅/发布相关的示例
代码。当收到
深度相机信息和
深度图像时，它将创建一个
点云并将其
转换为
ROS PointCloud2消息发布到`
point cloud`主题。
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