pcl从3D点云中获取出中间一圈的数据*3D激光雷达

樱桃木

于 2021-01-20 17:36:51 发布

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本文链接：https://blog.csdn.net/qq_24624539/article/details/112904075

void getScanOf3DLidar(){
      //从3D点云中获取出中间一圈的数据
      //由于雷神激光雷达没有0°线扫，所以获取出来的线扫不是在一个平面上的
      pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
      pcl::io::loadPCDFile("/home/cbc/lidar3D.pcd", *cloud);

      cout<<cloud->width<<endl;
      cout<<cloud->height<<endl;

      pcl::PointCloud<pcl::PointXYZI>::Ptr scan(new pcl::PointCloud<pcl::PointXYZI>);
      scan->width = cloud->width;
      scan->height = 1;
      for(int i = (cloud->height / 2) * cloud->width; i < (cloud->height/2+1) * cloud->width;++i){
            scan->points.push_back(cloud->points[i]);
      }
      // for(int i = 0; i < cloud->width*cloud->height;++i){
      //       scan->points.push_back(cloud->points[i]);
      // }
      cout<<scan->width<<" "<<scan->height<<endl;
      pcl::visualization::CloudViewer viewer("cloud");
      viewer.showCloud(scan);
      while (!viewer.wasStopped())
      {
            /* code */
      }

}