2D(单线)激光雷达PointCloud与LaserScan格式转换

sensor_msgs::LaserScan转PointCloud

void LaserScanToPointCloud(sensor_msgs::LaserScan::ConstPtr _laser_scan, pcl::PointCloud<pcl::PointXYZI>& _pointcloud)
{
  _pointcloud.clear();
  pcl::PointXYZI newPoint;
  newPoint.z = 0.0;
  double newPointAngle;

  int beamNum = _laser_scan->ranges.size();
  for (int i = 0; i < beamNum; i++)
  {
      newPointAngle = _laser_scan->angle_min + _laser_scan->angle_increment * i;
      newPoint.x = _laser_scan->ranges[i] * cos(newPointAngle);
      newPoint.y = _laser_scan->ranges[i] * sin(newPointAngle);
      newPoint.intensity = _laser_scan->intensities[i];
      _pointcloud.push_back(newPoint);
  }
}

PointCloud转sensor_msgs::LaserScan

sensor_msgs::LaserScan PointCloudToLaserscan(pcl::PointCloud<pcl::PointXYZI>& _pointcloud)
{
  float angle_min, angle_max, ra