如何将雷达3D点云数据转化成2D的？

1、首先，下载并安装（编译）pointcloud_to_laserscan。具体命令为

~$ mkdir catkin_wspointcloud_to_laserscan

~$ cd catkin_wspointcloud_to_laserscan

~$ wstool init src

~$ cd src

~$ git clone https://github.com/ros-perception/pointcloud_to_laserscan

~$ cd ..

~$ catkin_make

~$ source ~/.bashrc

在catkin_wspointcloud_to_laserscan文件夹下将得到如图所示三个文件。

2、然后，切换到目录cd ~/catkin_wspointcloud_to_laserscan/src/pointcloud_to_laserscan/launch，新建一个文件touch rslidar.launch，并用gedit编辑其内容如下：

<?xml version="1.0"?>

<launch>

<!-- run pointcloud_to_laserscan node -->

<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

<remap from="cloud_in" to="/rslidar_points"/>

<remap from="scan" to="/rslidar/scan"/>

<rosparam>

# target_frame: rslidar # Leave disabled to output scan in pointcloud frame

transform_tolerance: 0.01

min_height: -0.4

max_height: 1.0

angle_min: -3.1415926 # -M_PI

angle_max: 3.1415926 # M_PI

angle_increment: 0.003 # 0.17degree

scan_time: 0.1

range_min: 0.2

range_max: 100

use_inf: true

inf_epsilon: 1.0

# Concurrency level, affects number of pointclouds queued for processing and number of threads used

# 0 : Detect number of cores

# 1 : Single threaded

# 2->inf : Parallelism level

concurrency_level: 1

</rosparam>

</node>

</launch>

3、接着，连接好硬件部分，开启雷达，命令如下：

~$ cd ~/catkin_wsrslidar

~$ source devel/setup.bash

~$ roslaunch rslidar_pointcloud rs_lidar_16.launch

4、最后，用Ctrl+Shift+T命令打开新的终端，启动点云3D数据转换：

~$ cd catkin_wspointcloud_to_laserscan/src/pointcloud_to_laserscan/launch

~$ roslaunch pointcloud_to_laserscan

在rviz中去掉pointcloud2后面的勾，并增加topic：/rslida/scan

得到2D结果如图所示。