本人环境

Ubuntu 22.04.4LTS
ros2-humble
cpython 3.0.11
python 3.10.12
libpcl-dev 1.12.1+dfsg-3build1
pcl-tools 1.12.1+dfsg-3build1

代码摘抄来源：Breadcrumbsouster-ros-extras/scripts/ros2_pcl_filters.py

def convert_pointcloud2_to_pcl(self, msg):
    data = pc2.read_points(msg, field_names="xyz")
    points = np.array(list(data), dtype=np.float32)
    cloud = pcl.PointCloud()
    cloud.from_array(points)
    return cloud

def convert_pcl_to_pointcloud2(self, pcl_cloud, header):
    points = pcl_cloud.to_array()
    fields = [
        PointField(name='x', offset=0,
                   datatype=PointField.FLOAT32, count=1),
        PointField(name='y', offset=4,
                   datatype=PointField.FLOAT32, count=1),
        PointField(name='z', offset=8,
                   datatype=PointField.FLOAT32, count=1)
    ]
    return pc2.create_cloud(header, fields, points)

成功安装

sudo apt install python3-pcl

参考链接：Python 3.8 compatibility issue

成功运行截图

错误尝试

尝试一

pip3 install pcl

函数调用报错

[lidar_3d_detector.py-1]     cloud = pcl.PointCloud()
[lidar_3d_detector.py-1] AttributeError: module 'pcl' has no attribute 'PointCloud'

尝试二

pip3 install python-pcl -i https://pypi.mirrors.ustc.edu.cn/simple/

尝试三

git clone https://github.com/strawlab/python-pcl.git
cd python-pcl/