[ros-users] PointCloud vs PointCloud2

[Gonçalo Cabrita]

Thanks for the quick replies guys!

PointCloud2 it is then!

I guess I should subscribe to the pcl ml and start going over the
documentation. :) And I should also start paying attention to those nodelets
threads!!!

Gonçalo Cabrita
ISR - University of Coimbra
Portugal

On Mon, Dec 6, 2010 at 6:27 PM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:

> Gonçalo,
>
> On 12/06/2010 10:18 AM, Ivan Dryanovski wrote:
> > 2010/12/6 Gonçalo Cabrita<goncabrita at gmail.com>:
> >> Hi everyone!
> >> I'm starting a project in which I am going to use a Point Cloud
> >> representation of data (not vision related).
> >> So my question is, should I use PointCloud2 instead of PointCloud? Is
> >> PointCloud sort of deprecated, or is it just a matter of choice
> depending on
> >> the requirements of my project?
> [...]
> > According to the PCL FAQ, publishing PointCloud2 is recommended over
> PointCloud:
> >
> >
> http://www.ros.org/wiki/pcl/FAQ#Is_there_any_reason_to_continue_using_PointCloud_messages.2BAC8-topics.3F
>
> As Ivan said, we are strongly discouraging the use of
> sensor_msgs/PointCloud for any important application where you
> care about efficiency. PCL (http://pointclouds.org :) ) is only supporting
> the new sensor_msgs/PointCloud2 format natively.
>
> Starting with the upcoming PCL 0.7 we're hoping to create drivers that will
> publish pcl::PointCloud<T> directly too -
> exciting times for those avid nodelet performance freaks! :)
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
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