pcl::PointCloud vs. sensor_msgs::PointCloud

asked 2011-07-20 13:50:39 -0600

ubuntuslave

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Obviously they are not the same. Which one should a developer be using?

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answered 2011-07-20 20:48:42 -0600

dornhege

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pcl::PointCloud for "working".

sensor_msgs::PointCloud is a message for sending. You can create a pcl::PointCloud publisher that will automatically send out the right data.

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Documentation of how to send pcl::PointClouds natively can be found at http://www.ros.org/wiki/pcl_ros

tfoote ( 2011-07-26 11:27:07 -0600 )edit

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answered 2011-07-21 06:01:08 -0600

dejanpan
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So you wonna use sensor_msgs::PointCloud2 (not sensor_msgs::PointCloud as it is deprecated) if you are passing messages between nodes in ROS (e.g. between kinect driver node and your pointcloud processing node). Once your pointcloud node receives the sensor_msgs::PointCloud2 msg you use pcl::fromROSMsg function to convert it to pcl::PointCloud<pointt> (note that it has to be templated) and that can then be used as input to all pcl algorithms. D.

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Wouldn't it just be easier to use the publishers and subscribers in pcl_ros that automatically do the conversion for you as opposed to manually converting via pcl::fromROSMsg/pcl::toROSMsg?

Eric Perko ( 2011-07-21 06:38:18 -0600 )edit

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