Conversion from sensor_msgs::PointCloud2 to pcl::PointCloud<T>

asked 2014-03-06 23:04:47 -0600

madmage
293 ●12 ●17 ●22

updated 2014-03-07 05:05:38 -0600

31395 ●134 ●284 ●498

Hi all, I am digging deep in this forum, but I'm getting lost. I am using ROS Groovy and receiving a sensor_msgs::PointCloud2 from a depth_image_proc nodelet and I want to process it using PCL 1.7. None of the solutions found in this forum are working for me, i.e., I miss some function prototype of toPCL, fromROSMsg, etc. functions.

I would like to do something like:

void CloudViewerPlugin::pointcloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg) {
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(*msg, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, cloud);

void CloudViewerPlugin::pointcloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg) {
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::fromROSMsg(*msg, cloud);

but I found no function prototype to do this.

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Comments

Can you try to directly subscribe to a pcl pointcloud? There might be some pcl_ros magic going on that allows you to do so.

dornhege ( 2014-03-06 23:18:15 -0600 )edit

Hi Christian, I already tried that solution, but: /opt/ros/groovy/include/ros/message_traits.h:121: error: ‘__s_getMD5Sum’ is not a member of ‘pcl::PointCloud<pcl::pointxyz>’ on the subscribe line (I'm following http://wiki.ros.org/pcl_ros)

madmage ( 2014-03-07 01:17:44 -0600 )edit

Sorry, I hadn't #included the right files, however, now there are two errors: /opt/ros/groovy/include/pcl_ros/point_cloud.h:176: error: no matching function for call to ‘createMapping(std::vector<sensor_msgs::pointfield_<std::allocator<void> > >&, pcl::MsgFieldMap&)’ and: /opt/ros/groovy/include/ros/serialization.h:134: error: ‘struct pcl::PCLHeader’ has no member named ‘deserialize’

madmage ( 2014-03-07 01:23:19 -0600 )edit

I believe your second option fromRosMsg is only available fron Kinetic onwards

Rufus ( 2020-04-12 23:03:48 -0600 )edit

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answered 2014-12-07 18:03:51 -0600

bzr
246 ●2 ●4 ●3

Here's the code that successfully transforms my sensor_msgs::PointCloud2::ConstPtr to a pcl::PointCloud<pcl::pointxyz>::Ptr

#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_ros/transforms.h>

 void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

    pcl::PCLPointCloud2 pcl_pc2;
    pcl_conversions::toPCL(*input,pcl_pc2);
    pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);
    //do stuff with temp_cloud here
    }

Some of the includes may be unnecessary ....

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Comments

and what if i want to go the other way around? from pointXYZ to sensor_msgs? do i still have to go through pcl::PointCloud2? Can you please write the code for that.

mimpho ( 2015-05-30 10:30:47 -0600 )edit

Have you tested this?Because I did exactly what you have written and the temp_cloud is utterly broken.When I pass it to any PCL function that works with pcl::PointCloud<pcl::pointxyz>::Ptr I get an immediate segmentation fault.The cloud I'm receiving is fine plus no errors during the build process.

rbaleksandar ( 2015-08-19 10:49:08 -0600 )edit

CMakeFiles/listener.dir/src/listener.cpp.o: In function `void pcl::detail::FieldMapper<pcl::pointxyz>::operator()<pcl::fields::x>()': listener.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1xEEEvv[_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1xEEEvv]+0x2a3): undefined r

rasoo ( 2016-06-28 06:24:50 -0600 )edit

eference to pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)' CMakeFiles/listener.dir/src/listener.cpp.o: In functionvoid pcl::detail::FieldMapper<pcl::pointxyz>::operator()<pcl::fields::y>()':

rasoo ( 2016-06-28 06:25:23 -0600 )edit

listener.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1yEEEvv[_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1yEEEvv]+0x2a3): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'

rasoo ( 2016-06-28 06:25:41 -0600 )edit

CMakeFiles/listener.dir/src/listener.cpp.o: In function `void pcl::detail::FieldMapper<pcl::pointxyz>::operator()<pcl::fields::z>()': listener.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1zEEEvv[_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1zEEEvv]+0x2a3): undefined r

rasoo ( 2016-06-28 06:25:56 -0600 )edit

Heyii, I am also trying to do the similar things. But I am getting the above errors. Sorry for the inconvenience. I am pretty new with ROS and PCL.Can you please help me? What kind of error these are showing.. ?

rasoo ( 2016-06-28 06:30:20 -0600 )edit

Here is a project of mine. I'm actually going to convert this to a more generic package and perhaps even propose to include it in ROS since there are not out-of-the-box, easy-to-use packages.

rbaleksandar ( 2016-06-28 09:45:51 -0600 )edit

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answered 2017-04-19 09:26:10 -0600

zubair
178 ●24 ●27 ●33

pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(*cloud_msg,pcl_pc2);
pcl::PointCloud<pcl::PointXYZ>::Ptr pt_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(pcl_pc2,*pt_cloud);

hi what i can do with pt_cloud to get the x y and z values of my point cloud ??

please help

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sorry a bit late: You would access x y z like:

 float x = pt_cloud->points[p].x;
 float y = pt_cloud->points[p].y;
 float z = pt_cloud->points[p].z;

// do something with x, y, z

Wi55@m ( 2017-10-25 04:11:17 -0600 )edit

What's p here? A loop variable, or?

Jägermeister ( 2019-05-23 06:43:20 -0600 )edit

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answered 2018-04-26 05:11:24 -0600

lile
1 ●1 ●1

Hi everyone: when i use the code below: oid cloud_cb(const boost::shared_ptr<const sensor_msgs::pointcloud2="">& input){

pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(*input,pcl_pc2);
pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);
//do stuff with temp_cloud here
}

i got the error: #error USE_ROS setup requires PCL to compile against ROS message headers, which is now deprecated

what it means, thanks?

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i have found the problem. in CMakeLists.txt, just commit this line:

#add_definitions("-DUSE_ROS")

and them it works

lile ( 2018-04-26 06:01:32 -0600 )edit

@lile can you help me with conversion?

Petros ADLATUS ( 2022-05-13 02:16:52 -0600 )edit

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Conversion from sensor_msgs::PointCloud2 to pcl::PointCloud<T>

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