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2012-12-06 14:59:39 -0600 asked a question Easy way to transform a geometry_msgs::Pose by a 4x4 Rotation Matrix

Hello All,

I feel as if there should be a way for me to easily translate and rotate a geometry_msgs::Pose by a 4x4 rotation matrix given to me as the final transformation from a registration in the Point Cloud Library.

I'm not sure of how I should go about performing this operation.


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2012-11-13 14:15:10 -0600 asked a question Finding an Item in a Point Cloud

Hello All,

I'm wondering if there is a implementation in ROS that would allow me to find a Object in a point cloud based off of some kind of comparison, preferably either to a Mesh object or a smaller point cloud representing the object that I'm looking for.

I've search online and it appears that there may already be an implementation, but I Can't find anything specifically documenting where it is or what it's called.

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2012-10-12 11:11:50 -0600 asked a question ‘removeNaNFromPointCloud’ is not a member of ‘pcl’

When I try to do rosmake on my package I get the following error:

‘removeNaNFromPointCloud’ is not a member of ‘pcl’

However I can see it in the documentation: here


void cloud_cb (sensor_msgs::PointCloud2 input) {
  pcl::PointCloud<pcl::PointXYZ> in_cloud;
  pcl::PointCloud<pcl::PointXYZ> out_cloud;
  std::vector<int> indicies;
  pcl::fromROSMsg(input, in_cloud);
  pcl::fromROSMsg(input, out_cloud);
  pcl::removeNaNFromPointCloud(in_cloud, out_cloud, indicies);

Anyone know why this is currently saying it's not part of the pcl?

2012-10-12 10:08:30 -0600 asked a question Turning a PointCloud2 into individual points

Hello All,

I'm incredibly new to ROS (first week) and wondering how I can turn a sensor_msgs/PointCloud2 msg into a list of individual points within the cloud. I want to be able to manipulate individual points later on.

Currently I've been able to run the Turtlebot, subscribe to the cloud, and receive it in a node, but now I'm not sure how to process the cloud into individual points.

Current code:

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
// PCL specific includes
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

int runOnce = 0;

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input) {

  //Lets only run this code once
  if(runOnce == 0){
    runOnce = 1;



int main (int argc, char** argv) {
      // Initialize ROS
      ros::init (argc, argv, "cloud_decrypt");
      ros::NodeHandle nh;

      // Create a ROS subscriber for the input point cloud
      ros::Subscriber sub = nh.subscribe ("/camera/depth/points", 1, cloud_cb);

      // Spin
      ros::spin ();