pcl::PointCloud點雲格式轉換

PointCloud::Ptr　轉換　pcl::PointCloudpcl::PointXYZ::Ptr

PointCloud::Ptr cloud (new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *out_cloud);

sensor_msgs::PointCloud　轉換　pcl::PointCloudpcl::PointXYZ::Ptr

  sensor_msgs::PointCloud2 cloud;
  pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PCLPointCloud2 pcl_pc2;
  pcl_conversions::toPCL(cloud,pcl_pc2);
  pcl::fromPCLPointCloud2(pcl_pc2,*out_cloud);

pcl::PCLPointCloud2::Ptr　轉換　pcl::PointCloudpcl::PointXYZ::Ptr

 pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2), cloud (new pcl::PCLPointCloud2);
 pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud (new pcl::PointCloud<pcl::PointXYZ>);
 pcl::fromPCLPointCloud2 (*cloud, *out_cloud);