在ros中,获取激光雷达scan的数据,并删除指定角度范围内的雷达数据,返回剩余的点云,用c++实现
时间: 2023-12-06 07:44:25 浏览: 29
下面是一个获取激光雷达scan数据并删除指定角度范围内的点云的C++实现示例:
```cpp
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
class LaserFilter
{
public:
LaserFilter()
{
// 订阅激光雷达数据
laser_sub_ = nh_.subscribe("/scan", 1, &LaserFilter::laserCallback, this);
// 发布过滤后的点云数据
cloud_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("/filtered_cloud", 1);
}
void laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
// 将激光雷达数据转换为点云数据
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
for (int i = 0; i < scan_msg->ranges.size(); i++)
{
float range = scan_msg->ranges[i];
if (range < scan_msg->range_min || range > scan_msg->range_max)
{
continue;
}
float angle = scan_msg->angle_min + i * scan_msg->angle_increment;
pcl::PointXYZ point;
point.x = range * cos(angle);
point.y = range * sin(angle);
point.z = 0.0;
cloud->push_back(point);
}
// 创建旋转滤波器,删除指定角度范围内的点云
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(-0.1, 0.1);
pass.filter(*filtered_cloud);
// 发布过滤后的点云数据
sensor_msgs::PointCloud2 cloud_msg;
pcl::toROSMsg(*filtered_cloud, cloud_msg);
cloud_msg.header.frame_id = "laser_link";
cloud_pub_.publish(cloud_msg);
}
private:
ros::NodeHandle nh_;
ros::Subscriber laser_sub_;
ros::Publisher cloud_pub_;
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "laser_filter");
LaserFilter filter;
ros::spin();
return 0;
}
```
在上面的示例中,我们订阅了激光雷达数据,并将其转换为点云数据。然后,我们创建了一个旋转滤波器,使用`pcl::PassThrough`类删除指定角度范围内的点云,并发布过滤后的点云数据。在这个示例中,我们删除了z轴范围在`-0.1`到`0.1`之间的点云数据。