PCL 0.7 Released!

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PCL 0.7 Released!

Marius Muja-2
Hi all,

We are happy to announce the release of PCL 0.7

The 0.7 release brings:
* FLANN version 1.6.6 with much improved K-nearest neighbor and radius
search for point cloud data types (much faster than ANN)
* 32bit architecture alignment fixes
* more on Windows compatibility
* new RangeImagePlanar support for Kinect
* PassThrough can now produce organized datasets as output
* removed all boost:fusion macros, improved templatization and instantiations
* merged PCL_TF into PCL_ROS, removed ANN as a dependency
* fixed 'is_dense' misuses
* Eigen3 got moved to the geometry stack (unstable) and
geometry_experimental (cturtle).
* PCD files got bumped to version 0.7 by adding a new VIEWPOINT header field.
* pcl::PointCloud<T> now stores a sensor origin/orientation.
* pcl::View<T> added as a pcl::PointCloud<T> + Image + CameraInfo to
support 3D registration

See the complete change-list at: www.ros.org/wiki/perception_pcl/ChangeList

Thanks to all the contributors!
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

Radu B. Rusu
Administrator

On 12/21/2010 12:37 AM, Marius Muja wrote:
> Hi all,
>
> We are happy to announce the release of PCL 0.7

And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)


One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.


The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
support for deprecated/unused classes/methods and prepare for the API review.

One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
  * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
  * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
pcl::PointCloud<T> directly


Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.


And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
they are!


Cheers,
Radu.
--
http://pointclouds.org
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

nizar sallem
Hi,

I was so excited that I gave it a try, unluckily it doesn't compile due to the presence of ROS_ERROR macro which seems to be undefined in the standalone. I will put a ticket.


--
Nizar SALLEM
Robotics and Artificial Intelligence PhD student
LAAS-CNRS
7, Avenue Colonel Roche
31077 Toulouse CEDEX 4
FRANCE




On Dec 21, 2010, at 9:51 AM, Radu Bogdan Rusu wrote:

>
> On 12/21/2010 12:37 AM, Marius Muja wrote:
>> Hi all,
>>
>> We are happy to announce the release of PCL 0.7
>
> And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
> awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)
>
>
> One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
> which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.
>
>
> The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
> with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
> support for deprecated/unused classes/methods and prepare for the API review.
>
> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
>  * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>  * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
> pcl::PointCloud<T> directly
>
>
> Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
> improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
> during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
> the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.
>
>
> And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
> they are!
>
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users

_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

nizar sallem
I attach the patch that solves all the compilation issues since there were more. See Ticket URL: https://code.ros.org/trac/ros-pkg/ticket/4641



--
Nizar SALLEM
Robotics and Artificial Intelligence PhD student
LAAS-CNRS
7, Avenue Colonel Roche
31077 Toulouse CEDEX 4
FRANCE




On Dec 21, 2010, at 10:57 AM, Nizar Khalifa Sallem wrote:

Hi,

I was so excited that I gave it a try, unluckily it doesn't compile due to the presence of ROS_ERROR macro which seems to be undefined in the standalone. I will put a ticket.


--
Nizar SALLEM
Robotics and Artificial Intelligence PhD student
LAAS-CNRS
7, Avenue Colonel Roche
31077 Toulouse CEDEX 4
FRANCE




On Dec 21, 2010, at 9:51 AM, Radu Bogdan Rusu wrote:


On 12/21/2010 12:37 AM, Marius Muja wrote:
Hi all,

We are happy to announce the release of PCL 0.7

And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)


One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.


The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
support for deprecated/unused classes/methods and prepare for the API review.

One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
* within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
* between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
pcl::PointCloud<T> directly


Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.


And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
they are!


Cheers,
Radu.
--
http://pointclouds.org
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users



_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users

pcl.diff (1K) Download Attachment
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Re: PCL 0.7 Released!

Radu B. Rusu
Administrator
In reply to this post by nizar sallem
A-ham! Thanks for the report Nizar! We'll patch trunk right now, and most likely release a 0.7.1 to fix this.

Cheers,
Radu.
--
http://pointclouds.org

On 12/21/2010 01:57 AM, Nizar Khalifa Sallem wrote:

> Hi,
>
> I was so excited that I gave it a try, unluckily it doesn't compile due to the presence of ROS_ERROR macro which seems to be undefined in the standalone. I will put a ticket.
>
>
> --
> Nizar SALLEM
> Robotics and Artificial Intelligence PhD student
> LAAS-CNRS
> 7, Avenue Colonel Roche
> 31077 Toulouse CEDEX 4
> FRANCE
>
>
>
>
> On Dec 21, 2010, at 9:51 AM, Radu Bogdan Rusu wrote:
>
>>
>> On 12/21/2010 12:37 AM, Marius Muja wrote:
>>> Hi all,
>>>
>>> We are happy to announce the release of PCL 0.7
>>
>> And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
>> awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)
>>
>>
>> One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
>> which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.
>>
>>
>> The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
>> with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
>> support for deprecated/unused classes/methods and prepare for the API review.
>>
>> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
>> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T>  datasets. This means:
>>   * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>>   * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
>> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
>> pcl::PointCloud<T>  directly
>>
>>
>> Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
>> improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
>> during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
>> the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.
>>
>>
>> And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
>> they are!
>>
>>
>> Cheers,
>> Radu.
>> --
>> http://pointclouds.org
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> https://code.ros.org/mailman/listinfo/pcl-users
>
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

Radu B. Rusu
Administrator
In reply to this post by nizar sallem
Nizar,

Thanks again. Can you check if the updated TGZ fixed these issues?

Cheers,
Radu.
--
http://pointclouds.org

On 12/21/2010 03:09 AM, Nizar Khalifa Sallem wrote:

> I attach the patch that solves all the compilation issues since there were more. See Ticket URL:
> https://code.ros.org/trac/ros-pkg/ticket/4641
>
>
>
>
> --
> Nizar SALLEM
> Robotics and Artificial Intelligence PhD student
> LAAS-CNRS
> 7, Avenue Colonel Roche
> 31077 Toulouse CEDEX 4
> FRANCE
>
>
>
>
> On Dec 21, 2010, at 10:57 AM, Nizar Khalifa Sallem wrote:
>
>> Hi,
>>
>> I was so excited that I gave it a try, unluckily it doesn't compile due to the presence of ROS_ERROR macro which seems
>> to be undefined in the standalone. I will put a ticket.
>>
>>
>> --
>> Nizar SALLEM
>> Robotics and Artificial Intelligence PhD student
>> LAAS-CNRS
>> 7, Avenue Colonel Roche
>> 31077 Toulouse CEDEX 4
>> FRANCE
>>
>>
>>
>>
>> On Dec 21, 2010, at 9:51 AM, Radu Bogdan Rusu wrote:
>>
>>>
>>> On 12/21/2010 12:37 AM, Marius Muja wrote:
>>>> Hi all,
>>>>
>>>> We are happy to announce the release of PCL 0.7
>>>
>>> And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
>>> awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)
>>>
>>>
>>> One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
>>> which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.
>>>
>>>
>>> The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
>>> with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
>>> support for deprecated/unused classes/methods and prepare for the API review.
>>>
>>> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
>>> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
>>> * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>>> * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
>>> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
>>> pcl::PointCloud<T> directly
>>>
>>>
>>> Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
>>> improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
>>> during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
>>> the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.
>>>
>>>
>>> And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
>>> they are!
>>>
>>>
>>> Cheers,
>>> Radu.
>>> --
>>> http://pointclouds.org
>>> _______________________________________________
>>> [hidden email] <mailto:[hidden email]> / http://pointclouds.org
>>> https://code.ros.org/mailman/listinfo/pcl-users
>>
>
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

nizar sallem
Yes Radu, it is OK :)

--
Nizar SALLEM
Robotics and Artificial Intelligence PhD student
LAAS-CNRS
7, Avenue Colonel Roche
31077 Toulouse CEDEX 4
FRANCE




On Dec 21, 2010, at 5:05 PM, Radu Bogdan Rusu wrote:

> Nizar,
>
> Thanks again. Can you check if the updated TGZ fixed these issues?
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
>
> On 12/21/2010 03:09 AM, Nizar Khalifa Sallem wrote:
>> I attach the patch that solves all the compilation issues since there were more. See Ticket URL:
>> https://code.ros.org/trac/ros-pkg/ticket/4641
>>
>>
>>
>>
>> --
>> Nizar SALLEM
>> Robotics and Artificial Intelligence PhD student
>> LAAS-CNRS
>> 7, Avenue Colonel Roche
>> 31077 Toulouse CEDEX 4
>> FRANCE
>>
>>
>>
>>
>> On Dec 21, 2010, at 10:57 AM, Nizar Khalifa Sallem wrote:
>>
>>> Hi,
>>>
>>> I was so excited that I gave it a try, unluckily it doesn't compile due to the presence of ROS_ERROR macro which seems
>>> to be undefined in the standalone. I will put a ticket.
>>>
>>>
>>> --
>>> Nizar SALLEM
>>> Robotics and Artificial Intelligence PhD student
>>> LAAS-CNRS
>>> 7, Avenue Colonel Roche
>>> 31077 Toulouse CEDEX 4
>>> FRANCE
>>>
>>>
>>>
>>>
>>> On Dec 21, 2010, at 9:51 AM, Radu Bogdan Rusu wrote:
>>>
>>>>
>>>> On 12/21/2010 12:37 AM, Marius Muja wrote:
>>>>> Hi all,
>>>>>
>>>>> We are happy to announce the release of PCL 0.7
>>>>
>>>> And just to continue with our goofy add-hoc release naming scheme (post 0.5), let's call this one: Special "FLANN is
>>>> awesome" edition, as we attribute most of the algorithmic speedups to Marius! :)
>>>>
>>>>
>>>> One more note: we also released perception_pcl_addons 0.2 (http://www.ros.org/wiki/perception_pcl_addons/ChangeList)
>>>> which brings a lot of internal optimizations for speed + some new functionality to all the PCL Visualizer users.
>>>>
>>>>
>>>> The next target is 0.8, and we'll start changing things a bit... one one hand we'll try to do a website organization
>>>> with a proper wish list, bugs to fix, etc, so that more people can contribute, and on the other, we'll start dropping
>>>> support for deprecated/unused classes/methods and prepare for the API review.
>>>>
>>>> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
>>>> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
>>>> * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>>>> * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
>>>> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
>>>> pcl::PointCloud<T> directly
>>>>
>>>>
>>>> Also many many thanks to Troy for pushing the new library structure (99% done, still some work to do for 0.8), which
>>>> improves things dramatically for user code compiled against PCL. Between 0.5 and 0.7 we managed to drop the memory usage
>>>> during compilation from 1.3GB to ~650MB / process, which is FANTASTIC! The remaining work includes refactoring some of
>>>> the internal ROS dependencies such as message_filters, or dynamic_reconfigure, which might take some time.
>>>>
>>>>
>>>> And as Marius said, many many thanks to all the contributors and users! I'm sure we forgot some names, but they know who
>>>> they are!
>>>>
>>>>
>>>> Cheers,
>>>> Radu.
>>>> --
>>>> http://pointclouds.org
>>>> _______________________________________________
>>>> [hidden email] <mailto:[hidden email]> / http://pointclouds.org
>>>> https://code.ros.org/mailman/listinfo/pcl-users
>>>
>>

_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

Patrick Bouffard
In reply to this post by Radu B. Rusu
On Tue, Dec 21, 2010 at 12:51 AM, Radu Bogdan Rusu
<[hidden email]> wrote:
> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T> datasets. This means:
>  * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>  * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
> pcl::PointCloud<T> directly

Should I be able to then use pcl::PointCloud<T> as a message type for
a message_filters::Subscriber as well? If so is there code anywhere
where this is used with an ExactTime synchronizer that I could look at
as an example? I see that, e.g., pcl::fromROSMsg is still used in
sac_segmentation.cpp in pcl_ros.

Thanks,
Pat
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

Patrick Mihelich
On Thu, Dec 30, 2010 at 7:28 PM, Patrick Bouffard <[hidden email]> wrote:
Should I be able to then use pcl::PointCloud<T> as a message type for
a message_filters::Subscriber as well?

Yes! message_filters::Subscriber wraps around a ros::Subscriber, so this will just work.

If so is there code anywhere
where this is used with an ExactTime synchronizer that I could look at
as an example? I see that, e.g., pcl::fromROSMsg is still used in
sac_segmentation.cpp in pcl_ros.

I don't believe we have a code example right this moment, but Radu is hard at work converting pcl_ros to use ros::Publisher/Subscriber everywhere.

Cheers,
Patrick

_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users
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Re: PCL 0.7 Released!

Radu B. Rusu
Administrator
In reply to this post by Patrick Bouffard
Patrick,

Sorry for the late reply. We've been busy finishing and testing the PointCloud<T> (de)serialization routines so that
they work well with all PCL_ROS nodelets.

In the process, we also removed all the unnecessary (de)serialization in the nodelets. No more to/fromROSMsg inside each
nodelet. This should lead to significant speed and computational improvements, but we haven't done any proper testing
and number crunching yet.

Here's the patch that I just committed to pcl_ros a few minutes ago:

   * replaced subscribers/publishers in surface, segmentation, and feature nodelets from sensor_msgs::PointCloud2 to
pcl::PointCloud<T>, thus reducing complexity and getting rid of all the intermediate from/toROSMsg (de)serializations
   * moved away from storing state in the nodelets. The right way to do it is: callback -> PointCloud -> process ->
publish, without storing the PointCloud as a member into the base class
   * introduced a mandatory emptyPublish which nodelets should use to send an empty result with the header frame_id and
stamp equal with the input's.

Next on the todo list is to actually finish up the `latched_indices` option, and integrate a new great generalized field
value filter from Louis (thanks!) into both pcl and pcl_ros.

On 12/30/2010 07:28 PM, Patrick Bouffard wrote:

> On Tue, Dec 21, 2010 at 12:51 AM, Radu Bogdan Rusu
> <[hidden email]>  wrote:
>> One of the first things that we need to deprecate is the pcl_ros::Publisher/Subscriber. Thanks to Patrick's amazing
>> work, we now have the possibility to reuse the ros::Publisher/Subscriber for pcl::PointCloud<T>  datasets. This means:
>>   * within the same process, we will just copy the pcl::PointCloud<T>::ConstPtr
>>   * between different processes, we will send the pcl::PointCloud<T>::ConstPtr, but with the same MD5 sum as
>> sensor_msgs::PointCloud2 + extra logic, which means all sensor_msgs/PointCloud2 consumers will be able to consume
>> pcl::PointCloud<T>  directly
>
> Should I be able to then use pcl::PointCloud<T>  as a message type for
> a message_filters::Subscriber as well? If so is there code anywhere
> where this is used with an ExactTime synchronizer that I could look at
> as an example? I see that, e.g., pcl::fromROSMsg is still used in
> sac_segmentation.cpp in pcl_ros.

Cheers,
Radu.
--
http://pointclouds.org
_______________________________________________
[hidden email] / http://pointclouds.org
https://code.ros.org/mailman/listinfo/pcl-users