fromROSMsg saves an unstructured pointcloud?
When retrieving pointclouds from kinect openni (topic: /camera/rgb/points) and calling
pcl::fromROSMsg(*pcl2_msg_, pcl_xyzrgb_);
the pointcloud goes from structured tu unstructured.
ROS_INFO("msg size %d %d size %d %d ",pcl2_msg_->height, pcl2_msg_->width, (int) pcl_xyzrgb_.height, (int)pcl_xyzrgb_.width);
outputs
[ INFO] [1328803389.512748025]: msg size 480 640 size 1 101595
[ INFO] [1328803389.945569604]: msg size 480 640 size 1 101593
[ INFO] [1328803390.400027375]: msg size 480 640 size 1 101676
[ INFO] [1328803390.840122150]: msg size 480 640 size 1 101569
and so on.
Any hint why this happens and how to keep the pointcloud dense and structured?
But how do you decide that its unstructured cloud. 480x640 mentions that its structured. when u have it as 1x307200 then it is unstructured. So i guess its fine here.