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You seem already got an accepted answer but just for future reference,

You could use convertPointCloud2ToPointCloud from sensor_msgs.

Once you input Pointcloud2 and got output as Pointcloud , then you can iterate through your points as such;

    #include <sensor_msgs/PointCloud.h>
    #include <sensor_msgs/PointCloud2.h>
    #include <sensor_msgs/point_cloud_conversion.h>

    sensor_msgs::Pointcloud2 input_pointcloud;
    sensor_msgs::Pointcloud out_pointcloud;
    sensor_msgs::convertPointCloud2ToPointCloud(input_pointcloud, out_cloud);

for(int i = 0 ; i < out_cloud.points.size(); ++i){
geometry_msgs::Point32 point;

//Dooo something here
point.z = out_cloud.points[i].z;
}

And get xyz coordinates of all points

You seem already got an accepted answer but just for future reference,

You could use convertPointCloud2ToPointCloud from sensor_msgs.

Once you input Pointcloud2 and got output as Pointcloud , then you can iterate through your points as such;

 #include <sensor_msgs/PointCloud.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/point_cloud_conversion.h>

 sensor_msgs::Pointcloud2 input_pointcloud;
 sensor_msgs::Pointcloud out_pointcloud;
 sensor_msgs::convertPointCloud2ToPointCloud(input_pointcloud, out_cloud);

for(int i = 0 ; i < out_cloud.points.size(); ++i){
 geometry_msgs::Point32 point;

 //Dooo something here
 point.z = out_cloud.points[i].z;
}

And get xyz coordinates of all points