[ros-users] pointcloud to pointcloud2 conversion

Martin, L kollaps2001 at hotmail.com
Tue Oct 19 00:07:32 UTC 2010


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> >&,

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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