Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse

3 Comments / Computer Vision, Image Processing, ROS / By admin

#include <pcl/conversions.h>

1	#include <pcl/conversions.h>

pcl::PCLPointCloud2 point_cloud2;
pcl::PointCloud<pcl::PointXYZ> point_cloud;

pcl::fromPCLPointCloud2( point_cloud2, point_cloud);

pcl::toPCLPointCloud2(point_cloud, point_cloud2);

pcl::PCLPointCloud2 point_cloud2;

pcl::PointCloud<pcl::PointXYZ> point_cloud;

pcl::fromPCLPointCloud2( point_cloud2, point_cloud);

pcl::toPCLPointCloud2(point_cloud, point_cloud2);

more about pcl point cloud and conversion

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batondu83

3 years ago

Thx !!

Author

admin

3 years ago

Reply to batondu83

You are welcome 🙂

SantK

3 years ago

Hello
try to convert from pcl::PointCloud<pcl::PointXYZ> to pcl::PCLPointCloud2 But the conversion returns an empty point cloud.
This is my code:

pcl::PCLPointCloud2 cloud_inliers_pcl2;
pcl::toPCLPointCloud2(cloud_inliers, cloud_inliers_pcl2);

1 2	pcl::PCLPointCloud2 cloud_inliers_pcl2; pcl::toPCLPointCloud2(cloud_inliers, cloud_inliers_pcl2);

I can print out the cloud “cloud_inliers” which is in the pcl::PointCloud<pcl::PointXYZ>

But the pcl::PCLPointCloud2 returns empty fields

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