ROS中PCL数据转换

最近在使用PCL做Velodyne的点云数据分析，在分析的过程中，最开始的就是遇到了PCL的点云数据的各种转换，里面的数据确实有点乱，现总结如下：

ROS转PCL数据格式

• sensor_msgs::PointCloud2转pcl::PCLPointCloud2 ^[2]

pcl_conversions::toPCL(sensor_msgs::PointCloud2, pcl::PCLPointCloud2)

• sensor_msgs::PointCloud2转pcl::PointCloud<pcl::PointXYZ> ^[1]

pcl::fromROSMsg (sensor_msgs::PointCloud2, pcl::PointCloud<pcl::PointXYZ>);

PCL转ROS数据

• pcl::PCLPointCloud2转sensor_msgs::PointCloud2^[2]

pcl_conversions::fromPCL(pcl::PCLPointCloud2, sensor_msgs::PointCloud2);

• pcl::PointCloud<pcl::PointXYZ>转sensor_msgs::PointCloud2^[1]

pcl::toROSMsg (pcl::PointCloud<pcl::PointXYZ>,sensor_msgs::PointCloud2);

PCL中数据互转 ^[3]

• pcl::PCLPointCloud2转pcl::PointCloud <pcl::PointXYZ>

pcl::fromPCLPointCloud2(pcl::PCLPointCloud2,pcl::PointCloud<pcl::PointXYZ>);

• pcl::PointCloud<pcl::PointXYZ>转pcl::PCLPointCloud2

pcl::toPCLPointCloud2(pcl::PointCloud<pcl::PointXYZ>, pcl::PCLPointCloud2);

Reference:

[1] http://wiki.ros.org/pcl/Overview
[2] http://wiki.ros.org/pcl/Tutorials
[3] http://docs.pointclouds.org/1.7.0/structpcl_1_1_p_c_l_point_cloud2.html