Created
April 30, 2018 06:07
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PCL, ROS, sensor_msgs::PointCloud2 to PCL type
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| #include <pcl_conversions/pcl_conversions.h> | |
| #include <pcl/point_types.h> | |
| #include <pcl/PCLPointCloud2.h> | |
| #include <pcl/conversions.h> | |
| #include <pcl_ros/transforms.h> | |
| void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){ | |
| pcl::PCLPointCloud2 pcl_pc2; | |
| pcl_conversions::toPCL(*input,pcl_pc2); | |
| pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>); | |
| pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud); | |
| //do stuff with temp_cloud here | |
| } | |
| // Reference | |
| /* | |
| /* https://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/ | |
| */ |
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Hey, thanks a lot for the repo, but I need pointcloud stitching to be specfic and not just merge. My code works as expected only issue being the point cloud becomes unordered in the end leading to difficulties in using various pcl algorithms, trying to find workarounds for that.