add files

CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(pcd_to_pcd)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  pcl_ros
+  roscpp
+  sensor_msgs
+)
+
+find_package(PCL 1.8 REQUIRED )
+if(NOT PCL_FOUND)
+message(STATUS "JFX_XXXXXXXXXXXX:PCL_NOTFOUND")
+else()
+message(STATUS "JFX_XXXXXXXXXXXX:PCL_VERSION    ==> ${PCL_VERSION}")
+message(STATUS "JFX_XXXXXXXXXXXX:PCL_INCLUDE_DIRS    ==> ${PCL_INCLUDE_DIRS}")
+message(STATUS "JFX_XXXXXXXXXXXX:PCL_LIBRARY_DIRS    ==> ${PCL_LIBRARY_DIRS}")
+endif()
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES pcd_to_rviz
+#  CATKIN_DEPENDS pcd_conversions pcl_ros roscpp sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/pcd_to_rviz.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/pcd_to_rviz_node.cpp)
+
+add_executable(pcd_to_pcd src/pcd_to_pcd.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+target_link_libraries(pcd_to_pcd ${catkin_LIBRARIES})
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pcd_to_rviz.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>pcd_to_pcd</name>
+  <version>0.0.0</version>
+  <description>The pcd_to_pcd package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="shroot@todo.todo">shroot</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/pcd_to_rviz</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_filters</build_depend>
+  <build_export_depend>pcl_ros</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>message_filters</build_export_depend>
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>message_filters</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/pcd_to_pcd.cpp

+//pcd_to_rviz.cpp
+#include<ros/ros.h>
+#include<pcl/point_cloud.h>
+#include<pcl_conversions/pcl_conversions.h>
+#include<sensor_msgs/PointCloud2.h>
+#include<pcl/io/pcd_io.h>
+#include<pcl/common/transforms.h>
+#include<vector>
+#include<string>
+
+using namespace std;
+
+//定制点云新结构，所有雷达字段并集
+struct PointXYZM {
+  PCL_ADD_POINT4D   //添加pcl里xyz
+  float intensity;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  //
+} EIGEN_ALIGN16;
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(
+    PointXYZM,
+    (float, x, x)
+    (float, y, y)
+    (float, z, z)
+    (float, intensity, intensity)
+)
+
+main (int argc, char **argv)
+{
+  ros::init (argc, argv, "pcd_to_pcd");
+  Eigen::Matrix4d Ori2Kit = Eigen::Matrix4d::Identity();
+  Ori2Kit << 4.04300e-03, -5.00000e-05, 9.99992e-01, 0.00000e+06, 
+	     -2.46990e-02, -9.99695e-01, 5.00000e-05, 0.00000e+06, 
+	     9.99687e-01, -2.46990e-02, -4.04300e-03, 8.00000e-01, 
+	     0.00000e+06, 0.00000e+06, 0.00000e+06, 1.00000e+00;
+
+  Eigen::Matrix4d MainLidar = Eigen::Matrix4d::Identity();
+  MainLidar << 2.31447956e-03, -4.33286019e-02, -9.99058068e-01, -1.34041223e+03,
+               2.83858646e-02, 9.98661160e-01, -4.32456136e-02, 1.82794641e+03, 
+	       9.99594331e-01, -2.82590352e-02, 3.54130147e-03, 4.58240843e+00, 
+	       0.00000000e+09, 0.00000000e+09, 0.00000000e+09, 1.00000000e+00;
+
+  Eigen::Matrix4d MainLidarInverse = Eigen::Matrix4d::Identity();
+  MainLidarInverse = MainLidar.inverse();
+  std::cout<<MainLidarInverse<<endl;
+
+  //原图点云，制图点云
+  pcl::PointCloud<PointXYZM> cloud;
+  pcl::io::loadPCDFile ("/home/shroot/shanghai2/17-cross/merge.pcd", cloud);
+
+  //投射到主LIDAR的点云
+  pcl::PointCloud<PointXYZM>::Ptr last_cloud(new pcl::PointCloud<PointXYZM>());
+  pcl::transformPointCloud(cloud, *last_cloud, MainLidarInverse);
+
+  //投射到KITT
+  pcl::PointCloud<PointXYZM>::Ptr transformed_cloud(new pcl::PointCloud<PointXYZM>());
+  pcl::transformPointCloud(*last_cloud, *transformed_cloud, Ori2Kit);
+
+  //保存文件
+  pcl::io::savePCDFileASCII("/home/shroot/shanghai2/17-cross/17-static.pcd", *transformed_cloud);
+
+  return 0;
+}