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Avoid copying data in fromROSMsg with PCL >= 1.13.1 (#402)

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See also https://github.com/PointCloudLibrary/pcl/pull/5608
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Markus Vieth 2023-02-14 23:38:26 +01:00 committed by GitHub
parent de09161924
commit 1868f51160
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pcl_conversions/include/pcl_conversions/pcl_conversions.h
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@ -568,8 +568,15 @@ namespace pcl {
void fromROSMsg(const sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
#if PCL_VERSION_COMPARE(>=, 1, 13, 1)
pcl_conversions::copyPointCloud2MetaData(cloud, pcl_pc2); // Like pcl_conversions::toPCL, but does not copy the binary data
pcl::MsgFieldMap field_map;
pcl::createMapping<T> (pcl_pc2.fields, field_map);
pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud, field_map, &cloud.data[0]);
#else
pcl_conversions::toPCL(cloud, pcl_pc2);
pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
#endif
}
template<typename T>