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2013-01-03 10:03:03 -0600 commented answer PCL-ROS run time error while doing plane segmentation.

Except that the code you posted says downsampled_XYZ->width = 15; ... and I still don't see where you call new sensor_msgs::PointCloud2 anywhere.

2013-01-03 04:50:48 -0600 answered a question PCL-ROS run time error while doing plane segmentation.

If you haven't figured it out already (or it's an omission in your code copying), it looks like the downsampled cloud pointer has not been initialized with a valid cloud. You pass the dereferenced shared pointer in the sor.filter(*downsampled) line...

At some point, you need: downsampled.reset(new sensor_msgs::PointCloud2)

In addition, the output cloud pointer has not been initialized, so the call to pcl::toROSMsg(*output_p, *output) will also generate an error.

If that is not the problem, you'll probably have to provide some more information (like a backtrace from gdb or something)...

Hope this helps.

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