ROS 中使用 sensor_msgs::msg::PointCloud2 传输点云数据。开发中会需要对它和其他类型的点云数据进行转换，大部分由 pcl_conversions 提供。
pcl::PCLPointCloud2
ros msg -> pcl::PCLPointCloud2
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| #include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
pcl::PCLPointCloud2 pcl_pc2;
sensor_msgs::msg::PointCloud2 ros_cloud;
pcl_conversions::toPCL(ros_cloud, pcl_pc2);
sensor_msgs::msg::PointCloud2::SharedPtr pc_msg;
pcl_conversions::toPCL(*pc_msg.get(), pcl_pc2);
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ros msg <- pcl::PCLPointCloud2
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| #include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
pcl::PCLPointCloud2 pcl_pc2;
sensor_msgs::msg::PointCloud2 ros_cloud;
pcl_conversions::fromPCL(pcl_pc2, ros_cloud);
sensor_msgs::msg::PointCloud2::SharedPtr pc_msg;
pcl_conversions::fromPCL(pcl_pc2, *pc_msg);
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pcl::PointCloud
ros msg -> pcl::PointCloud
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#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr;
sensor_msgs::msg::PointCloud2 ros_cloud;
pcl::fromROSMsg(ros_cloud, *cloud_ptr);
sensor_msgs::msg::PointCloud2::SharedPtr pc_msg;
pcl::fromROSMsg(*pc_msg.get(), *cloud_ptr);
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ros msg <- pcl::PointCloud
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| #include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr;
if (!cloud_ptr || cloud_ptr->points.empty())
return;
sensor_msgs::msg::PointCloud2 ros_cloud;
pcl::toROSMsg(*cloud_ptr, ros_cloud);
sensor_msgs::msg::PointCloud2::SharedPtr pc_msg;
pcl::toROSMsg(*cloud_ptr, *pc_msg);
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