PCL-Python-Helper (10%)

pcl_helper.py

github, Code

random_color_gen() : Generates a random set of r,g,b values

• Return: a 3-tuple with r,g,b values (range 0-255)

ros_to_pcl(sensor_msgs/PointCloud2) : Converts sensor_msgs/PointCloud2 to XYZRGB Point Cloud

• Return: pcl.PointCloud_PointXYZRGB

pcl_to_ros(pcl.PointCloud_PointXYZRGB): Converts XYZRGB Point Cloud to sensor_msgs/PointCloud2

• Return: sensor_msgs/PointCloud2

XYZRGB_to_XYZ(XYZRGB_cloud): Converts XYZRGB Point Cloud to XYZ Point CLoud

• Return: pcl.PointCloud

XYZ_to_XYZRGB(XYZ_cloud, color):Takes a 3-tuple as color and adds it to XYZ Point Cloud

• Return: pcl.PointCloud_PointXYZRGB

rgb_to_float(color):Converts 3-tuple color to a single float32

• Return: rgb packed as a single float32

get_color_list(cluster_count) : Creates a list of 3-tuple (rgb) with length of the list = cluster_count

• Return: get_color_list.color_list

/get_PCD.py

point_cloud2.py

코드 다운로드 : wget https://gist.githubusercontent.com/adioshun/f35919c895631314394aa1762c24334c/raw/eb3b6493b964007f3103314e3208a48395f0f973/pcl_helper.py

from pcl_helper import *

color = random_color_gen()
xyzrgb = XYZ_to_XYZRGB(pc, color)

Documentation for pcl_helper.py

pcl_helper.py contains useful functions for working with point cloud data with ROS and PCL. The file itself is located in Exercise-2/sensor_stick/scripts/. While the helper functions are required for Exercise-2, they could also come in handy if you want to explore more deeply in Exercise-1. Here's a brief description of the contents:

Functions:

random_color_gen()

Generates a random set of r,g,b values
Return: a 3-tuple with r,g,b values (range 0-255)

ros_to_pcl(sensor_msgs/PointCloud2)

Converts sensor_msgs/PointCloud2 to XYZRGB Point Cloud
Return: pcl.PointCloud_PointXYZRGB

pcl_to_ros(pcl.PointCloud_PointXYZRGB)

Converts XYZRGB Point Cloud to sensor_msgs/PointCloud2
Return: sensor_msgs/PointCloud2

XYZRGB_to_XYZ(XYZRGB_cloud)

Converts XYZRGB Point Cloud to XYZ Point CLoud
Return: pcl.PointCloud

XYZ_to_XYZRGB(XYZ_cloud, color)

Takes a 3-tuple as color and adds it to XYZ Point Cloud
Return: pcl.PointCloud_PointXYZRGB

rgb_to_float(color)

Converts 3-tuple color to a single float32
Return: rgb packed as a single float32

get_color_list(cluster_count)

Creates a list of 3-tuple (rgb) with length of the list = cluster_count
Return: get_color_list.color_list