pcl::PointCloud vs. sensor_msgs::PointCloud
Obviously they are not the same. Which one should a developer be using?
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Obviously they are not the same. Which one should a developer be using?
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.
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.
Asked: 2011-07-20 13:50:39 -0500
Seen: 2,868 times
Last updated: Jul 21 '11
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