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Rayman
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Apr 22, 2025
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Rayman
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Rayman
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Thank you for your contribution!
Can you fix cpplint? I'm seeing a couple of errors in the CI.
Also a question: why did you change the commandline parsing? Previously it would print usage when you entered the wrong amount of arguments.
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Can you resolve the conflicts and implement the conversion with |
Rayman
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May 9, 2025
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Thank you for this feature! |
AntoBrandi
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Aug 26, 2025
kubojion
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Mar 24, 2026
Replace pcl::PointCloud<pcl::PointXYZ> and pcl::PointCloud<pcl::PointXYZRGB> accumulators with pcl::PCLPointCloud2. The typed approach silently drops all fields except x/y/z (or rgb) - intensity, ring, timestamps etc. are lost. Using pcl::PCLPointCloud2 as the accumulator preserves all fields from the incoming sensor_msgs/PointCloud2 messages, consistent with the approach requested in ros-perception#486. Also adds pcl_ros_tf linkage and uses pcl_ros::transformPointCloud for the fixed-frame transform, removing the inline typed transform helpers.
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Usage example:
ros2 run pcl_ros bag_to_pcd --ros-args -p bag_path:=rosbag2_2022_04_14-ped_vehicle/ -p topic_name:=/sensing/lidar/top/rectified/pointcloud -p output_directory:=pcds