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velodyne_pcl package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-06-01 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
Authors
- Sebastian Pütz
PointCloud2 to PCL PointCloud Conversion
Convert sensor_msgs::PointCloud2
objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT>
objects.
The sensor_msgs::PointCloud2
ROS message is constructed by using the PointcloudXYZIRT
, or the OrganizedCloudXYZIRT
container.
Both define the following channels:
- x - The x coord in Cartesian coordinates
- y - The y coord in Cartesian coordinates
- z - The z coord in Cartesian coordinates
- intensity - The measured intensity at the point
- ring - The ring number of the laser
- time - The time stamp of the measured point
To convert a sensor_msgs::PointCloud2
published by the velodyne driver to PCL you could use the following code:
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){
pcl::PCLPointCloud2 pcl_pointcloud2;
pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);
// use pcl_cloud_ptr
}
Changelog for package velodyne_pcl
1.7.0 (2022-07-08)
- Use std::uint16_t to reduce build warnings from PCL (#449)
- Contributors: icolwell-as
1.6.1 (2020-11-09)
- Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
- Contributors: Matthew Hannay
1.6.0 (2020-07-09)
-
Velodyne pcl (#335)
- fix time assignment in organized cloud container
- add velodyne_pcl package with point_types.h
- rename containers to cover the added time property
- Adding roslint to velodyne_pcl. (#1)
- Update CMake version to 3.5
* Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Contributors: Sebastian P
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_pcl at answers.ros.org
![]() |
velodyne_pcl package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-06-01 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
Authors
- Sebastian Pütz
PointCloud2 to PCL PointCloud Conversion
Convert sensor_msgs::PointCloud2
objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT>
objects.
The sensor_msgs::PointCloud2
ROS message is constructed by using the PointcloudXYZIRT
, or the OrganizedCloudXYZIRT
container.
Both define the following channels:
- x - The x coord in Cartesian coordinates
- y - The y coord in Cartesian coordinates
- z - The z coord in Cartesian coordinates
- intensity - The measured intensity at the point
- ring - The ring number of the laser
- time - The time stamp of the measured point
To convert a sensor_msgs::PointCloud2
published by the velodyne driver to PCL you could use the following code:
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){
pcl::PCLPointCloud2 pcl_pointcloud2;
pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);
// use pcl_cloud_ptr
}
Changelog for package velodyne_pcl
1.7.0 (2022-07-08)
- Use std::uint16_t to reduce build warnings from PCL (#449)
- Contributors: icolwell-as
1.6.1 (2020-11-09)
- Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
- Contributors: Matthew Hannay
1.6.0 (2020-07-09)
-
Velodyne pcl (#335)
- fix time assignment in organized cloud container
- add velodyne_pcl package with point_types.h
- rename containers to cover the added time property
- Adding roslint to velodyne_pcl. (#1)
- Update CMake version to 3.5
* Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Contributors: Sebastian P
Wiki Tutorials
Source Tutorials
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_pcl at answers.ros.org
![]() |
velodyne_pcl package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-06-01 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
Authors
- Sebastian Pütz
PointCloud2 to PCL PointCloud Conversion
Convert sensor_msgs::PointCloud2
objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT>
objects.
The sensor_msgs::PointCloud2
ROS message is constructed by using the PointcloudXYZIRT
, or the OrganizedCloudXYZIRT
container.
Both define the following channels:
- x - The x coord in Cartesian coordinates
- y - The y coord in Cartesian coordinates
- z - The z coord in Cartesian coordinates
- intensity - The measured intensity at the point
- ring - The ring number of the laser
- time - The time stamp of the measured point
To convert a sensor_msgs::PointCloud2
published by the velodyne driver to PCL you could use the following code:
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){
pcl::PCLPointCloud2 pcl_pointcloud2;
pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);
// use pcl_cloud_ptr
}
Changelog for package velodyne_pcl
1.7.0 (2022-07-08)
- Use std::uint16_t to reduce build warnings from PCL (#449)
- Contributors: icolwell-as
1.6.1 (2020-11-09)
- Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
- Contributors: Matthew Hannay
1.6.0 (2020-07-09)
-
Velodyne pcl (#335)
- fix time assignment in organized cloud container
- add velodyne_pcl package with point_types.h
- rename containers to cover the added time property
- Adding roslint to velodyne_pcl. (#1)
- Update CMake version to 3.5
* Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Contributors: Sebastian P
Wiki Tutorials
Source Tutorials
Launch files
Messages
Services
Plugins
Recent questions tagged velodyne_pcl at answers.ros.org
![]() |
velodyne_pcl package from velodyne repovelodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pcl velodyne_pointcloud |
|
Package Summary
Tags | No category tags. |
Version | 1.7.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-drivers/velodyne.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-06-01 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Josh Whitley
Authors
- Sebastian Pütz
PointCloud2 to PCL PointCloud Conversion
Convert sensor_msgs::PointCloud2
objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT>
objects.
The sensor_msgs::PointCloud2
ROS message is constructed by using the PointcloudXYZIRT
, or the OrganizedCloudXYZIRT
container.
Both define the following channels:
- x - The x coord in Cartesian coordinates
- y - The y coord in Cartesian coordinates
- z - The z coord in Cartesian coordinates
- intensity - The measured intensity at the point
- ring - The ring number of the laser
- time - The time stamp of the measured point
To convert a sensor_msgs::PointCloud2
published by the velodyne driver to PCL you could use the following code:
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){
pcl::PCLPointCloud2 pcl_pointcloud2;
pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);
// use pcl_cloud_ptr
}
Changelog for package velodyne_pcl
1.7.0 (2022-07-08)
- Use std::uint16_t to reduce build warnings from PCL (#449)
- Contributors: icolwell-as
1.6.1 (2020-11-09)
- Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
- Contributors: Matthew Hannay
1.6.0 (2020-07-09)
-
Velodyne pcl (#335)
- fix time assignment in organized cloud container
- add velodyne_pcl package with point_types.h
- rename containers to cover the added time property
- Adding roslint to velodyne_pcl. (#1)
- Update CMake version to 3.5
* Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Contributors: Sebastian P