fix(pcl_ros): preserve all fields in combined_pointcloud_to_pcd#528
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kubojion wants to merge 1 commit into
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fix(pcl_ros): preserve all fields in combined_pointcloud_to_pcd#528kubojion wants to merge 1 commit into
kubojion wants to merge 1 commit into
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Replace pcl::PointCloud<pcl::PointXYZ>/pcl::PointXYZRGB accumulators with pcl::PCLPointCloud2 so all fields (intensity, ring, timestamps, etc.) are preserved, consistent with the approach in pointcloud_to_pcd (ros-perception#491). - Use pcl::PCLPointCloud2::concatenate for safe accumulation with schema validation; skip clouds with mismatched fields/endianness - Skip clouds when fixed_frame TF fails to avoid silently mixing frames - Mark rgb parameter as deprecated no-op (all fields preserved automatically) - Propagate is_dense as logical AND across accumulated clouds - Add pcl_ros_tf linkage; use pcl_ros::transformPointCloud, removing the inline typed transform helpers
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combined_pointcloud_to_pcdwas accumulating clouds into typedpcl::PointCloud<pcl::PointXYZ>/pcl::PointCloud<pcl::PointXYZRGB>containers, silently dropping all extra fields (intensity, ring,
timestamps, custom fields, etc.) on every incoming message.
This applies the same approach used in
pointcloud_to_pcdsince #491:replace the typed accumulators with a single
pcl::PCLPointCloud2soall fields are preserved as-is.
The TF transform path also needed to change: typed
clouds allowed manual Eigen loops over
.points, which is not possiblewith
PCLPointCloud2. The fix usespcl_ros::transformPointCloud(sameas
pointcloud_to_pcd). With per-cloud TF, failing silently and fallingback to the original frame would mix coordinate frames in the output, so
the node now skips the cloud and logs a warning instead.
Other changes:
pcl::PCLPointCloud2::concatenatereplaces manual buffer append,adding schema validation (skips cloudds with mismatched fields or endianness)
rgbparameter is kept but marked deprecatedis_densepropagated as logical AND across accumulated cloudspcl_ros_tfadded to link dependencies;tf2_eigenand directtf2_rosremoved (transitively provided bypcl_ros_tf)"combined_"was producingcombined_combined_*.pcdrclcpp::shutdown()no longer called from destructor (passed viado_shutdownflag to avoid UB)