ros_realtime.py 文件源码

def on_new_point_cloud(data):
    global im
    pc = pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z","intensity"))
    #print pc.type
    #print data.type
    cloud_points = []
    for p in pc:
        cloud_points.append(p)
    npc = np.array(cloud_points)
    #lidar_to_2d_front_view(npc, v_res=VRES, h_res=HRES, v_fov=VFOV, val="depth", y_fudge=Y_FUDGE)
    #lidar_to_2d_front_view(npc, v_res=VRES, h_res=HRES, v_fov=VFOV, val="height", y_fudge=Y_FUDGE)
    #lidar_to_2d_front_view(npc, v_res=VRES, h_res=HRES, v_fov=VFOV, val="reflectance", y_fudge=Y_FUDGE)
    #im = birds_eye_point_cloud(npc, side_range=(-10, 10), fwd_range=(-10, 10), res=0.1)

    im = point_cloud_to_panorama(npc,
                             v_res=VRES,
                             h_res=HRES,
                             v_fov=VFOV,
                             y_fudge=5,
                             d_range=(0,100))

    #plt.imshow(im,cmap='spectral')
    #plt.show()