Avoid copying data in fromROSMsg with PCL >= 1.13.1 (#404)

See also PointCloudLibrary/pcl#5608
ros-perception · Feb 15, 2023 · 283496f · 283496f
1 parent 97d3c2c
commit 283496f
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/pcl_conversions/include/pcl_conversions/pcl_conversions.h b/pcl_conversions/include/pcl_conversions/pcl_conversions.h
@@ -561,8 +561,15 @@ namespace pcl {
   void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
   {
     pcl::PCLPointCloud2 pcl_pc2;
+#if PCL_VERSION_COMPARE(>=, 1, 13, 1)
+    pcl_conversions::copyPointCloud2MetaData(cloud, pcl_pc2); // Like pcl_conversions::toPCL, but does not copy the binary data
+    pcl::MsgFieldMap field_map;
+    pcl::createMapping<T> (pcl_pc2.fields, field_map);
+    pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud, field_map, &cloud.data[0]);
+#else
     pcl_conversions::toPCL(cloud, pcl_pc2);
     pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
+#endif
   }
 
   template<typename T>