Before we dive into the code, it's important to understand the basic concepts of both the Point Cloud Library and the PCL interface for ROS. As mentioned earlier, the former provides a set of data structures and algorithms for 3D data processing, and the latter provides a set of messages and conversion functions between messages and PCL data structures. All these software packages and libraries, in combination with the capabilities of the distributed communication layer provided by ROS, open up possibilities for many new applications in the robotics field.
In general, PCL contains one very important data structure, which is PointCloud. This data structure is designed as a template class that takes the type of point to be used as a template parameter. As a result of this, the point cloud class is not much more than a container of points that includes all of the common information required by all point clouds regardless of their point type. The following are the most important...