ROS中點雲學習(一):使用PCL生成動態隨機彩色點雲,併發布使用rviz檢視
阿新 • • 發佈:2021-02-18
最近在學習PointCloud,於是想嘗試著自己建立一個動態的彩色點雲。
在網上找了一些,但都不是動態的,於是經過自己修改,做了一個專案。
主程式pcl_pub.cpp程式碼:
#include <iostream>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
int main(int argc, char** argv) {
ros::init(argc, argv, "color"); //初始化了一個節點,名字為color
ros::NodeHandle n;
ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("/color_cloud", 1000); //建立了一個釋出器,主題是color_cloud,方便之後釋出點雲
ros::Rate rate(2); //點雲更新頻率2Hz
unsigned int num_points = 100; //點雲大小為100
pcl::PointCloud<pcl::PointXYZRGB> cloud; //建立了一個pcl的點雲(不能直接釋出)
cloud.points.resize(num_points); //點雲初始化
sensor_msgs::PointCloud2 output_msg; //建立一個可以直接釋出的點雲
while (ros::ok()) {
output_msg.header.stamp = ros::Time::now();
for (int i = 0; i < num_points; i++) {
//點雲中每個點位於一個10*10*10的方塊內隨機分佈,顏色也隨機
cloud.points[i].x = 10 * rand () / (RAND_MAX + 1.0f); // rand () / (RAND_MAX + 1.0f)為[0.1) rand () / (RAND_MAX )為[0.1]
cloud.points[i].y = 10 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = 10 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].r = (rand() % (255+1))+ 255; //(rand() % (b-a+1))+ a
cloud.points[i].g = (rand() % (255+1))+ 255;
cloud.points[i].b = (rand() % (255+1))+ 255;
}
pcl::toROSMsg(cloud, output_msg); //將點雲轉化為訊息才能釋出
output_msg.header.frame_id = "map"; //frame_id為map,rviz中就不用改了
pub.publish(output_msg); //釋出出去
rate.sleep();
}
ros::spin();
return 0;
}
CMakeLists.txt檔案內容為
cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(pcl_pub)
set(PACKAGE_DEPENDENCIES
roscpp
sensor_msgs
pcl_ros
pcl_conversions
std_srvs
message_generation
std_msgs
)
find_package(PCL 1.3 REQUIRED COMPONENTS common io)
find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
include_directories(${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_pub pcl_pub.cpp)
target_link_libraries(pcl_pub ${PCL_LIBRARIES} ${catkin_LIBRARIES} )
按照正常的步驟編譯即可。
最後執行./pcl_pub,開啟rviz可以檢視效果,如下