Re: [ros-users] pointcloud to pointcloud2 conversion

Hi,

The method to do that conversion is available in the sensor_msgs package.
Documented at
http://www.ros.org/doc/api/sensor_msgs/html/namespacesensor__msgs.html#ab3bdbe5a82173d3483899c776e6ccbab

Tully

On Mon, Oct 18, 2010 at 5:07 PM, Martin, L <kollaps2001@hotmail.com> wrote:

>
> Hi,
>
> I am sure it is probably a silly question to ask... but I can't get
> pointcloud to pointcloud2 conversion to work.
>
> To this is basically what I want to do:
>
>

>  void scanCallback (const sensor_msgs::PointCloudConstPtr &cloud)
>  {
>          sensor_msgs::PointCloud2 cloud2;
>          pcl::toROSMsg(*cloud, cloud2);

>

>           pcl::io::savePCDFile("test.pcd", cloud2, false);
>  }

>
>
> in words, I simply want to write the incoming pointcloud to a file. However
> as (to my understanding) the pointcloud needs to be in the pointcloud2
> format, did I try to convert it. Which however fails:
>
>
> error: no matching function for call to ‘toROSMsg(const
> sensor_msgs::PointCloud_<std::allocator<void> >&,
> sensor_msgs::PointCloud2&)’
>
>
> I have tried many things... but can't get it to work... so since I believe
> it is only a small issue did I figure I just ask .
>
> Or is there maybe a different way of saving it to a file?
>
> Many thanks in advance!
>
> --
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> Sent from the ROS-Users mailing list archive at Nabble.com.
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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827