C++ (Cpp) GridMap::toPointCloud示例

bool PointCloudVisualization::visualize(const grid_map::GridMap& map)
{
  if (pointCloudPublisher_.getNumSubscribers () < 1) return true;

  sensor_msgs::PointCloud2 pointCloud;

  map.toPointCloud(pointCloud, pointType_);

  pointCloudPublisher_.publish(pointCloud);
  return true;
}

示例#2

显示文件

文件： PointCloudVisualization.cpp 项目： belavenir/grid_map

bool PointCloudVisualization::visualize(const grid_map::GridMap& map)
{
  if (pointCloudPublisher_.getNumSubscribers () < 1) return true;

  sensor_msgs::PointCloud2 pointCloud;

  // FIXME(cfo): segfaults when pointtype is not set!
  map.toPointCloud(pointCloud, pointType_);

  pointCloudPublisher_.publish(pointCloud);
  return true;
}