point_cloud_conversion.h

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#ifndef SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
#define SENSOR_MSGS_POINT_CLOUD_CONVERSION_H

#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>

namespace sensor_msgs
{

static inline int getPointCloud2FieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
{
  // Get the index we need
  for (size_t d = 0; d < cloud.fields.size (); ++d)
    if (cloud.fields[d].name == field_name)
      return (d);
  return (-1);
}


static inline bool convertPointCloudToPointCloud2 (const sensor_msgs::PointCloud &input, sensor_msgs::PointCloud2 &output)
{
  output.header = input.header;
  output.width  = input.points.size ();
  output.height = 1;
  output.fields.resize (3 + input.channels.size ());
  // Convert x/y/z to fields
  output.fields[0].name = "x"; output.fields[1].name = "y"; output.fields[2].name = "z";
  int offset = 0;
  // All offsets are *4, as all field data types are float32
  for (size_t d = 0; d < output.fields.size (); ++d, offset += 4)
  {
    output.fields[d].offset = offset;
    output.fields[d].datatype = sensor_msgs::PointField::FLOAT32;
    output.fields[d].count  = 1;
  }
  output.point_step = offset;
  output.row_step   = output.point_step * output.width;
  // Convert the remaining of the channels to fields
  for (size_t d = 0; d < input.channels.size (); ++d)
    output.fields[3 + d].name = input.channels[d].name;
  output.data.resize (input.points.size () * output.point_step);
  output.is_bigendian = false;  // @todo ?
  output.is_dense     = false;

  // Copy the data points
  for (size_t cp = 0; cp < input.points.size (); ++cp)
  {
    memcpy (&output.data[cp * output.point_step + output.fields[0].offset], &input.points[cp].x, sizeof (float));
    memcpy (&output.data[cp * output.point_step + output.fields[1].offset], &input.points[cp].y, sizeof (float));
    memcpy (&output.data[cp * output.point_step + output.fields[2].offset], &input.points[cp].z, sizeof (float));
    for (size_t d = 0; d < input.channels.size (); ++d)
    {
      if (input.channels[d].values.size() == input.points.size())
      {
        memcpy (&output.data[cp * output.point_step + output.fields[3 + d].offset], &input.channels[d].values[cp], sizeof (float));
      }
    }
  }
  return (true);
}


static inline bool convertPointCloud2ToPointCloud (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud &output)
{
  // Get all fields size and check if we have non-float32 values
  for (size_t d = 0; d < input.fields.size (); ++d)
  {
    if (input.fields[d].datatype != sensor_msgs::PointField::FLOAT32)
    {
      std::cerr << boost::str(boost::format("sensor_msgs::PointCloud accepts only float32 values, but field %d (%s) has field type %d!")%(int)d% input.fields[d].name%input.fields[d].datatype) << std::endl;
    }
  }

  output.header = input.header;
  output.points.resize (input.width * input.height);
  output.channels.resize (input.fields.size () - 3);
  // Get the x/y/z field offsets
  int x_idx = getPointCloud2FieldIndex (input, "x");
  int y_idx = getPointCloud2FieldIndex (input, "y");
  int z_idx = getPointCloud2FieldIndex (input, "z");
  if (x_idx == -1 || y_idx == -1 || z_idx == -1)
  {
    std::cerr << "x/y/z coordinates not found! Cannot convert to sensor_msgs::PointCloud!" << std::endl;
    return (false);
  }
  int x_offset = input.fields[x_idx].offset;
  int y_offset = input.fields[y_idx].offset;
  int z_offset = input.fields[z_idx].offset;
   
  // Convert the fields to channels
  int cur_c = 0;
  for (size_t d = 0; d < input.fields.size (); ++d)
  {
    if ((int)input.fields[d].offset == x_offset || (int)input.fields[d].offset == y_offset || (int)input.fields[d].offset == z_offset)
      continue;
    output.channels[cur_c].name = input.fields[d].name;
    output.channels[cur_c].values.resize (output.points.size ());
    cur_c++;
  }

  // Copy the data points
  for (size_t cp = 0; cp < output.points.size (); ++cp)
  {
    // Copy x/y/z
    memcpy (&output.points[cp].x, &input.data[cp * input.point_step + x_offset], sizeof (float));
    memcpy (&output.points[cp].y, &input.data[cp * input.point_step + y_offset], sizeof (float));
    memcpy (&output.points[cp].z, &input.data[cp * input.point_step + z_offset], sizeof (float));
    // Copy the rest of the data
    int cur_c = 0;
    for (size_t d = 0; d < input.fields.size (); ++d)
    {
      if ((int)input.fields[d].offset == x_offset || (int)input.fields[d].offset == y_offset || (int)input.fields[d].offset == z_offset)
        continue;
      memcpy (&output.channels[cur_c++].values[cp], &input.data[cp * input.point_step + input.fields[d].offset], sizeof (float));
    }
  }
  return (true);
}
}
#endif// SENSOR_MSGS_POINT_CLOUD_CONVERSION_H