雷达点云 PointCloud2 格式转换

雷达点云 sensor_msgs::PointCloud2 pcl::PointCloud

数据格式转换参考代码
官方对点云格式的介绍，主要有四种，sensor_msgs::PointCloud已经弃用。参考

sensor_msgs::PointCloud — ROS message (deprecated)

sensor_msgs::PointCloud2 — ROS message

pcl::PCLPointCloud2 — PCL data structure mostly for compatibility with ROS (I think)

pcl::PointCloud<T> — standard PCL data structure 

sensor_msgs::PointCloud2 to pcl::PointCloudpcl::PointXYZ如果报错可以参考解决办法

#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_ros/transforms.h>

 void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

    pcl::PCLPointCloud2 pcl_pc2;
    pcl_conversions::toPCL(*input,pcl_pc2);
    pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);
    // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
     pcl::PointCloud<pcl::PointXYZ> cloud;
     pcl::fromROSMsg (*input, cloud);
    //do stuff with temp_cloud here
    }

sensor_msgs::PointCloud2与pcl::PCLPointCloud2转换并进行降采样。

#include <pcl/filters/voxel_grid.h>
...
void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
{
  // Container for original & filtered data
  pcl::PCLPointCloud2* cloud = new pcl::PCLPointCloud2; 
  pcl::PCLPointCloud2ConstPtr cloudPtr(cloud);
  pcl::PCLPointCloud2 cloud_filtered;

  // Convert to PCL data type
  pcl_conversions::toPCL(*cloud_msg, *cloud);

  // Perform the actual filtering
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  sor.setInputCloud (cloudPtr);
  sor.setLeafSize (0.1, 0.1, 0.1);
  sor.filter (cloud_filtered);

  // Convert to ROS data type
  sensor_msgs::PointCloud2 output;
  pcl_conversions::fromPCL(cloud_filtered, output);

  // Publish the data
  pub.publish (output);
}

sensor_msgs::PointCloud2与pcl::PointCloud转换并估计场景中找到的最大平面的平面系数

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

...

void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
  pcl::PointCloud<pcl::PointXYZ> cloud;
  pcl::fromROSMsg (*input, cloud);

  pcl::ModelCoefficients coefficients;
  pcl::PointIndices inliers;
  // Create the segmentation object
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setDistanceThreshold (0.01);

  seg.setInputCloud (cloud.makeShared ());
  seg.segment (inliers, coefficients);

  // Publish the model coefficients
  pcl_msgs::ModelCoefficients ros_coefficients;
  pcl_conversions::fromPCL(coefficients, ros_coefficients);
  pub.publish (ros_coefficients);
}

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