PointCloud2 to PCL PointCloud Conversion

Convert sensor_msgs::PointCloud2 objects coming from the velodyne_pointcloud driver to pcl::PointCloud<velodyne_pcl::PointXYZIRT> objects.

The sensor_msgs::PointCloud2 ROS message is constructed by using the PointcloudXYZIRT, or the OrganizedCloudXYZIRT container. Both define the following channels:

• x - The x coord in Cartesian coordinates
• y - The y coord in Cartesian coordinates
• z - The z coord in Cartesian coordinates
• intensity - The measured intensity at the point
• ring - The ring number of the laser
• time - The time stamp of the measured point

To convert a sensor_msgs::PointCloud2 published by the velodyne driver to PCL you could use the following code:

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

void cloud_callback(const boost::shared_ptr<const sensor_msgs::PointCloud2>& cloud){

  pcl::PCLPointCloud2 pcl_pointcloud2;
  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);

  // use pcl_cloud_ptr
}

Changelog for package velodyne_pcl

1.7.0 (2022-07-08)

• Use std::uint16_t to reduce build warnings from PCL (#449)
• Contributors: icolwell-as

1.6.1 (2020-11-09)

• Fix typo in velodyne_pcl/point_types.h (#357) Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT.
• Contributors: Matthew Hannay

1.6.0 (2020-07-09)

• Velodyne pcl (#335)

  • fix time assignment in organized cloud container
  • add velodyne_pcl package with point_types.h
  • rename containers to cover the added time property
  • Adding roslint to velodyne_pcl. (#1)
  • Update CMake version to 3.5

  * Update package.xml to Format2 and package version to 1.5.2 Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

• Contributors: Sebastian P