ROS-PCL-讀寫點雲PCD檔案

1寫pcd點雲

cloud轉pcd

　pcl::PointCloudpcl::PointXYZ cloud;

　pcl::io::savePCDFileASCII (“test.pcd”, cloud);

#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>

void cloudCB(const sensor_msgs::PointCloud2 &input)
{
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::fromROSMsg(input, cloud);
    pcl::io::savePCDFileASCII ("test.pcd", cloud);
}
main (int argc, char **argv)
{
    ros::init (argc, argv, "pcl_write");

    ROS_INFO("Started PCL write node");

    ros::NodeHandle nh;
    ros::Subscriber bat_sub = nh.subscribe("pcl_output", 10, cloudCB);

    ros::spin();
    return 0;
}
           

pcl_output的原點雲　cloud.width = 50000 ; cloud.height = 1;　

　　生成pcd檔案後，使用終端檢視點雲

　　$ pcl_viewer test.pcd

2讀pcd點雲并釋出

讀取pcd轉cloud

　pcl::PointCloudpcl::PointXYZ cloud;

　pcl::io::loadPCDFile (“test.pcd”, cloud);

#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>

main(int argc, char **argv)
{
    ros::init (argc, argv, "pcl_read");

    ROS_INFO("Started PCL read node");

    ros::NodeHandle nh;
    ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1);

    sensor_msgs::PointCloud2 output;
    pcl::PointCloud<pcl::PointXYZ> cloud;

    pcl::io::loadPCDFile ("test.pcd", cloud);

    pcl::toROSMsg(cloud, output);
    output.header.frame_id = "point_cloud";

    ros::Rate loop_rate(1);
    while (ros::ok())
    {
        pcl_pub.publish(output);
        ros::spinOnce();
        loop_rate.sleep();
    }
    return 0;
}