pcl

Point Cloud Library §

• 没有比较好的Python移植，只支持CPP
• 头文件

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

• 创建点云

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointXYZ p(x,y,z);
  cloud->push_back(p);

• 与ROS消息的数据类型转换

  sensor_msgs::PointCloud2 point_cloud2;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  // create your point cloud here
  pcl::toROSMsg(*cloud, point_cloud2);
  point_cloud2.header.frame_id = "world";