Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>::Ptr

asked 2016-05-11 03:22:23 -0500

erwhelewoli
51 ●7 ●8 ●9

Hello

I'm using the SampleConsensusModelLine, which requires a pointcloud on the form of pcl::PointCloud<pcl::pointxyz>::Ptr. However, the callback for the point cloud uses the form sensor_msgs::PointCloud2ConstPtr. How do I convert one to the other?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-05-11 04:07:42 -0500

Jbot

429 ●8 ●12 ●22

To convert PCLPointCloud2::Ptr to PointCloud<pcl::pointxyz> , you have to use the function "fromPCLPointCloud2".

For example :

pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered1 (new pcl::PointCloud<pcl::PointXYZ>()); 

pcl::fromPCLPointCloud2(*(cloud_filtered), *(cloud_filtered1));

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2016-05-11 03:22:23 -0500

Seen: 1,797 times

Last updated: May 11 '16

Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>::Ptr edit

1 Answer

Question Tools

Stats

Related questions

Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>::Ptr