可视化点云

Question

我在找到的视差图像上有来自gpu :: reprojectImageTo3D的3D点。我现在想要显示这个点云。

如何将找到的点云从OpenCV转换为sensor_msgs/PointCloud2？

我不需要发布点云，这只是为了调试可视化。是否有可能像使用节点中的图像一样显示它？例如使用pcl？这将是最佳的，因为我的设备在RViz（根据在线阅读）可能表现不佳。

Answer 1

我最好的猜测是这样做，只是遍历cv::mat并插入pcl转换为味精，因为我还没有找到任何直接。

#include <ros/ros.h> 
// point cloud headers 
#include <pcl/point_cloud.h> 
//Header which contain PCL to ROS and ROS to PCL conversion functions 
#include <pcl_conversions/pcl_conversions.h> 
//sensor_msgs header for point cloud2 
#include <sensor_msgs/PointCloud2.h> 
main (int argc, char **argv) 
{ 
    ros::init (argc, argv, "pcl_create"); 
    ROS_INFO("Started PCL publishing node"); 
    ros::NodeHandle nh; 
    //Creating publisher object for point cloud 
    ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1); 
    //Creating a cloud object 
    pcl::PointCloud<pcl::PointXYZ> cloud; 
    //Creating a sensor_msg of point cloud 
    sensor_msgs::PointCloud2 output; 
    //Insert cloud data 
    cloud.width = 50000; 
    cloud.height = 2; 
    cloud.points.resize(cloud.width * cloud.height); 
    //Insert random points on the clouds 
    for (size_t i = 0; i < cloud.points.size(); ++i) 
    { 
     cloud.points[i].x = 512 * rand()/(RAND_MAX + 1.0f); 
     cloud.points[i].y = 512 * rand()/(RAND_MAX + 1.0f); 
     cloud.points[i].z = 512 * rand()/(RAND_MAX + 1.0f); 
    } 
    //Convert the cloud to ROS message 
    pcl::toROSMsg(cloud, output); 
    output.header.frame_id = "point_cloud"; 
    ros::Rate loop_rate(1); 
    while (ros::ok()) 
    { 
     //publishing point cloud data 
     pcl_pub.publish(output); 
     ros::spinOnce(); 
     loop_rate.sleep(); 
    } 
    return 0; 
} 

此代码段被发现在apprize。