Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>

asked 2020-06-02 21:04:18 -0600

czr
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I am trying to apply a segmentation model to a point cloud. The models on PCL expect a pcl::PointCloud<pcl::PointXYZ>, I have tried to converting the messages by using the functions suggested in other threads but it wont compile:

int segment_obstacles(const sensor_msgs::PointCloud2ConstPtr& input) 
{   
    pcl::PointCloud<pcl::PointXYZ> cloud (new pcl::PointCloud<pcl::PointXYZ>()); 

    // pcl::fromPCLPointCloud2(*input, *cloud);
    pcl::fromROSMsg(*input, *cloud);

I tried both functions. What would be the right way to convert the message point cloud?

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I use the same algorithm you are using.

The only difference i see is when you declare a pcl::pointcloud (I have it declared as a pointer). so, your third line should be :

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());

Actually for me makes sense due to the fact that "new" if i am not wrong is used for pointers.

Hope it helps!

Solrac3589 ( 2020-06-03 01:00:41 -0600 )edit

Thank you very much, that solved the compilation error.

czr ( 2020-06-03 18:03:47 -0600 )edit

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void cloudCallback(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& msg) { // Read incoming cloud pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud (new pcl::PointCloud<pcl::PointXYZ>); *filtered_cloud = *msg; }

Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>

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Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ> edit

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Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>