pcl和ros数据转换

pcl

一共有三种类型互相转换

• sensor_msgs::PointCloud2
• pcl::PointCloud
• pcl::PCLPointCloud2

//sensor_msgs::PointCloud2 ======> pcl::PCLPointCloud2
    pcl_conversions::toPCL()
//sensor_msgs::PointCloud2 <====== pcl::PCLPointCloud2
    pcl_conversions::fromPCL()

//sensor_msgs::PointCloud2 ======> pcl::PointCloud
     pcl::fromROSMsg()
//sensor_msgs::PointCloud2 <====== pcl::PointCloud
    pcl::toROSMsg()

//pcl::PCLPointCloud2 ======> pcl::PointCloud
    pcl::fromPCLPointCloud2()
//pcl::PCLPointCloud2 <====== pcl::PointCloud
    pcl::toPCLPointCloud2()