Comments (2)
1, 由于内核中点云脱离PCL, PointCloudMsg中的点云定义其实就是一个std::vector. 因为在日常使用中主要用法都是将内核点云转换成外层PCL的点云进行使用,所以并未提供反向转换的函数。 如果有需要,可以参rslidar_sdk/src/adapter/driver_adapter.hpp
中的转换函数,逆向转换即可。 PCL的底层实现也是std::vector,所以本质上这两种消息的转换就是vector的复制。
2, 由于PCL提供了转ROS消息的函数,所以在sdk中是先将内核的脱离pcl的点云转换成了pcl点云,然后在使用ros发送时,调用的pcl官方的转换函数转成ROS消息发出。
from rslidar_sdk.
好的,非常感谢您的解答,我已经实现了。
from rslidar_sdk.
Related Issues (20)
- 运行start.launch时成功出现了点云图,但提示QObject::connect:无法对“QVector<int>”类型的参数进行排队
- Points published with NAN values
- Point cloud dimensions seem not consistent with real world distances HOT 1
- RS 16
- Any offical urdf / xacro / description file can be provided?
- rslidar_points订阅导致队列溢满 HOT 2
- rslidar point type (XYZIRADT) support request
- Dual return
- ROS1: rslidar_msgs/RslidarPacket msg type does not get added to rosmsg list
- ROS2 - Colcon build Error HOT 13
- Point clouds are all in one plane HOT 1
- Docker HOT 2
- meet error like this
- Jetson Orin jetpack 502 HOT 1
- Robosense M1 Smart “GAZE”
- Feature request: fusion with image
- Feature Request: Compression
- Using official rslidar sdk to capture point cloud for LIO-SAM HOT 4
- Object edges dispersion
- Problem with rs_driver_viewer and ros
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from rslidar_sdk.