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@iStarLee 2018-09-27T01:10:44.000000Z 字数 499 阅读 304

pcl和ros数据转换

pcl


一共有三种类型互相转换

  1. //sensor_msgs::PointCloud2 ======> pcl::PCLPointCloud2
  2. pcl_conversions::toPCL()
  3. //sensor_msgs::PointCloud2 <====== pcl::PCLPointCloud2
  4. pcl_conversions::fromPCL()
  1. //sensor_msgs::PointCloud2 ======> pcl::PointCloud
  2. pcl::fromROSMsg()
  3. //sensor_msgs::PointCloud2 <====== pcl::PointCloud
  4. pcl::toROSMsg()
  1. //pcl::PCLPointCloud2 ======> pcl::PointCloud
  2. pcl::fromPCLPointCloud2()
  3. //pcl::PCLPointCloud2 <====== pcl::PointCloud
  4. pcl::toPCLPointCloud2()
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