Hi,
I'm using the pcl::concatenateFields(cloud_a, cloud_b, cloud_out)
function to concatenate
pcl::PointCloud<pcl::PointXYZ> cloud_a;
pcl::PointCloud<pcl::Normal> cloud_b;
to
pcl::PointCloud<pcl::PointNormal> cloud_out;
and it works great!
Is there any possibility to specify the output cloud type for the
nodelet pcl/PointCloudConcatenateFieldsSynchronizer somehow as well?
(This is used in the normal estimation launch file for example).
The problem I have with the nodelet is that I'm trying to convert the
output pointcloud2 message to
struct PointNormal;
// Members: float x, y, z; uint32_t w; float normal[3], curvature;
to read the data.
Now of course this does not work as the padding w is missing from the
output pointcloud2 message I get from the nodelet since it "only"
concatenates the existing fields of the input clouds.
So, is there some way to adapt the nodelet to output a pointcloud2
message that corresponds to a specific pcl PointCloud<specified point
type>?
Cheers,
Felix Ruess
P.S. I did not sent this to pcl-users because the nodelet lives in pcl_ros
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