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transformLaserScanToPointCloud and pcl::fromROSMsgs???

asked 2012-03-07 21:16:43 -0600

liquidmonkey gravatar image

updated 2014-04-20 14:09:44 -0600

ngrennan gravatar image

i've taken a sensor_msgs/LaserScan and used transformLaserScanToPointCloud to get a new sensor_msgs/PointCloud.

originally my laserScan only had single values but after this, when i cout the ->points, there seems to be three values, (something, something, 0)

and since i want to be able to perform some pcl functions on my laser data i then use pcl::fromROSMsgs to take the sensor_msgs/PointCloud and transform it into a PointCloud of type PointXYZ.

and now using cout to view the ->points, there are now three values, (something, something, something).

what exaclty has happened to my original laser readings which were in meters? i thought i could access the laser values in the PointXYZ form by using ->points._x as is shown on the struct page here...

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answered 2012-03-07 22:18:28 -0600

dornhege gravatar image

I'm not really sure, what your problem is. What has happened is exactly what should have happened and as I read it also what you want. The laser scan distances in meters have been converted into a point cloud with coordinates. The (something, something, 0) is the point coordinates (x,y,z) and the z is 0 because there is no height information. They are still in meters. Is this what you want?

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yes it is and its working, thank you :)

liquidmonkey gravatar image liquidmonkey  ( 2012-03-08 00:00:00 -0600 )edit

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Asked: 2012-03-07 21:16:43 -0600

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Last updated: Mar 07 '12