Ubuntu20.04上velodyne_msgs/VelodyneScan格式转sensor_msgs/PointCloud2格式

如何在 ubuntu 20.04 将bag转换为kitty格式

ubuntu20.04lego-loam跑pcn数据

import os import struct from argparse import ArgumentParser import av import numpy as np import open3d as o3d import rosbag from sensor_msgs import point_cloud2 as pc2 av.logging.set_level(av.logging.PANIC) codec_ctx = av.codec.Codec('hevc','r') h265_code = codec_ctx.create() def parse_img(msg, dataset_dir): timestamp = int(msg.header.stamp.secs * 1000 + msg.header.stamp.nsecs / 1000000) # os.makedirs(os.path.join(dataset_dir, str(timestamp))) file_path = os.path.join(dataset_dir, str(timestamp)+'{}.jpg'.format(timestamp)) packet = av.packet.Packet(msg.data) try: out = h265_code.decode(packet) for frame in out: if frame.format.name!='rgb24': frame = frame.reformat(format='rgb24') img = frame.to_image() img.save(file_path) except Exception as e: print("{} frame can not trans to jpg".format(timestamp),e) def parse_pcd(msg, dataset_dir): timestamp = int(msg.header.stamp.secs * 1000 + msg.header.stamp.nsecs / 1000000) # os.makedirs(os.path.join(dataset_dir, str(timestamp))) file_path = os.path.join(dataset_dir, str(timestamp)+'{}.pcd'.format(timestamp)) pointclouds = [] points = np.frombuffer(msg.data, dtype=np.float32).reshape(-1, 4)[:, :3] pointclouds.append(points) # 合并所有点云数据 combined_pcd = np.concatenate(pointclouds) pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(combined_pcd) o3d.io.write_point_cloud(file_path, pcd) def parse_params(): parser = ArgumentParser() parser.add_argument('--topic', default = '') # parser.add_argument('--type', default='pcd') return parser.parse_args() def main(): # params = parse_params() output_dir = 'output_data' dataset_dir = os.path.join(output_dir,'dataset') if not os.path.exists(dataset_dir): os.makedirs(dataset_dir) bag_path = "/home/inwinic/Lixu_Pro/fangcheng_data/A3_A4_71/2025-07-14-10-54-53.bag" bag = rosbag.Bag(bag_path,"r") for topic, msg, t in bag.read_messages(): if topic == '/mdc_camera_instance_71': parse_img(msg,os.path.join(dataset_dir,'camrea')) elif topic == '/rs16PtClound_B2': parse_pcd(msg,os.path.join(dataset_dir,'lidar')) if __name__ == '__main__': main()

ubuntu20.04中A-loam跑数据时RVIZ不显示image