转换为模板点云fromROSMsg

void pcl::fromROSMsg(const sensor_msgs::PointCloud2 & msg,  pcl::PointCloud< PointT > & cloud,  const MsgFieldMap & field_map  )

Convert a PointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.

Parameters:

[in]msgthe PointCloud2 binary blob[out]cloudthe resultant pcl::PointCloud<T>[in]field_mapa MsgFieldMap object

Note:

Use fromROSMsg (PointCloud2, PointCloud<T>) directly or create you own MsgFieldMap using:

void pcl::fromROSMsg(const sensor_msgs::PointCloud2 & msg,  pcl::PointCloud< PointT > & cloud  )

Convert a PointCloud2 binary data blob into a pcl::PointCloud<T> object.

Parameters:

[in]msgthe PointCloud2 binary blob[out]cloudthe resultant pcl::PointCloud<T>