问题
I have 3D points from gpu::reprojectImageTo3D on a found disparity image. I would now like to display this pointcloud.
How do I Convert the found pointcloud from OpenCV
to sensor_msgs/PointCloud2
?
I do not need to publish the pointcloud this is only for debug visualization. Could it be possible to display it as is done with images from the node? e.g. using pcl
? This would be optimal since my device may not perform well with RViz
(based on readings online).
回答1:
My best guess is to do like this, and just iterate through the cv::mat
and insert in the pcl
to convert to msg, since I have not found anything that does directly.
#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;
}
This code snippet was found at apprize.
来源:https://stackoverflow.com/questions/40302248/visualize-pointcloud