ros pcl sensor::pointcloud2 转换成pcl::pointcloud

复制代码
#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);
    //do stuff with temp_cloud here
    }
复制代码

http://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/

posted @   每天一点积累  阅读(9024)  评论(0编辑  收藏  举报
努力加载评论中...
点击右上角即可分享
微信分享提示