text: /*
   * Software License Agreement (BSD License)
   *
   * Copyright (c) 2013, Open Source Robotics Foundation, Inc.
   * Copyright (c) 2010-2012, Willow Garage, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   *  * Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   *  * Redistributions in binary form must reproduce the above
   *    copyright notice, this list of conditions and the following
   *    disclaimer in the documentation and/or other materials provided
   *    with the distribution.
   *  * Neither the name of Open Source Robotics Foundation, Inc. nor
   *    the names of its contributors may be used to endorse or promote
   *    products derived from this software without specific prior
   *    written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef PCL_CONVERSIONS_H__
  #define PCL_CONVERSIONS_H__
  
  #include <vector>
  
  #include <ros/ros.h>
  
  #include <pcl/conversions.h>
  
  #include <pcl/PCLHeader.h>
  #include <std_msgs/Header.h>
  
  #include <pcl/PCLImage.h>
  #include <sensor_msgs/Image.h>
  
  #include <pcl/PCLPointField.h>
  #include <sensor_msgs/PointField.h>
  
  #include <pcl/PCLPointCloud2.h>
  #include <sensor_msgs/PointCloud2.h>
  
  #include <pcl/PointIndices.h>
  #include <pcl_msgs/PointIndices.h>
  
  #include <pcl/ModelCoefficients.h>
  #include <pcl_msgs/ModelCoefficients.h>
  
  #include <pcl/Vertices.h>
  #include <pcl_msgs/Vertices.h>
  
  #include <pcl/PolygonMesh.h>
  #include <pcl_msgs/PolygonMesh.h>
  
  #include <pcl/io/pcd_io.h>
  
  #include <Eigen/StdVector>
  #include <Eigen/Geometry>
  
  namespace pcl_conversions {
  
    /** PCLHeader <=> Header **/
  
    inline
    void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
    {
      stamp.fromNSec(pcl_stamp * 1000ull);  // Convert from us to ns
    }
  
    inline
    void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
    {
      pcl_stamp = stamp.toNSec() / 1000ull;  // Convert from ns to us
    }
  
    inline
    ros::Time fromPCL(const pcl::uint64_t &pcl_stamp)
    {
      ros::Time stamp;
      fromPCL(pcl_stamp, stamp);
      return stamp;
    }
  
    inline
    pcl::uint64_t toPCL(const ros::Time &stamp)
    {
      pcl::uint64_t pcl_stamp;
      toPCL(stamp, pcl_stamp);
      return pcl_stamp;
    }
  
    /** PCLHeader <=> Header **/
  
    inline
    void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
    {
      fromPCL(pcl_header.stamp, header.stamp);
      header.seq = pcl_header.seq;
      header.frame_id = pcl_header.frame_id;
    }
  
    inline
    void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
    {
      toPCL(header.stamp, pcl_header.stamp);
      pcl_header.seq = header.seq;
      pcl_header.frame_id = header.frame_id;
    }
  
    inline
    std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
    {
      std_msgs::Header header;
      fromPCL(pcl_header, header);
      return header;
    }
  
    inline
    pcl::PCLHeader toPCL(const std_msgs::Header &header)
    {
      pcl::PCLHeader pcl_header;
      toPCL(header, pcl_header);
      return pcl_header;
    }
  
    /** PCLImage <=> Image **/
  
    inline
    void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
    {
      fromPCL(pcl_image.header, image.header);
      image.height = pcl_image.height;
      image.width = pcl_image.width;
      image.encoding = pcl_image.encoding;
      image.is_bigendian = pcl_image.is_bigendian;
      image.step = pcl_image.step;
    }
  
    inline
    void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
    {
      copyPCLImageMetaData(pcl_image, image);
      image.data = pcl_image.data;
    }
  
    inline
    void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
    {
      copyPCLImageMetaData(pcl_image, image);
      image.data.swap(pcl_image.data);
    }
  
    inline
    void copyImageMetaData(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
    {
      toPCL(image.header, pcl_image.header);
      pcl_image.height = image.height;
      pcl_image.width = image.width;
      pcl_image.encoding = image.encoding;
      pcl_image.is_bigendian = image.is_bigendian;
      pcl_image.step = image.step;
    }
  
    inline
    void toPCL(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
    {
      copyImageMetaData(image, pcl_image);
      pcl_image.data = image.data;
    }
  
    inline
    void moveToPCL(sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
    {
      copyImageMetaData(image, pcl_image);
      pcl_image.data.swap(image.data);
    }
  
    /** PCLPointField <=> PointField **/
  
    inline
    void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
    {
      pf.name = pcl_pf.name;
      pf.offset = pcl_pf.offset;
      pf.datatype = pcl_pf.datatype;
      pf.count = pcl_pf.count;
    }
  
    inline
    void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::PointField> &pfs)
    {
      pfs.resize(pcl_pfs.size());
      std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
      int i = 0;
      for(; it != pcl_pfs.end(); ++it, ++i) {
        fromPCL(*(it), pfs[i]);
      }
    }
  
    inline
    void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
    {
      pcl_pf.name = pf.name;
      pcl_pf.offset = pf.offset;
      pcl_pf.datatype = pf.datatype;
      pcl_pf.count = pf.count;
    }
  
    inline
    void toPCL(const std::vector<sensor_msgs::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
    {
      pcl_pfs.resize(pfs.size());
      std::vector<sensor_msgs::PointField>::const_iterator it = pfs.begin();
      int i = 0;
      for(; it != pfs.end(); ++it, ++i) {
        toPCL(*(it), pcl_pfs[i]);
      }
    }
  
    /** PCLPointCloud2 <=> PointCloud2 **/
  
    inline
    void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
    {
      fromPCL(pcl_pc2.header, pc2.header);
      pc2.height = pcl_pc2.height;
      pc2.width = pcl_pc2.width;
      fromPCL(pcl_pc2.fields, pc2.fields);
      pc2.is_bigendian = pcl_pc2.is_bigendian;
      pc2.point_step = pcl_pc2.point_step;
      pc2.row_step = pcl_pc2.row_step;
      pc2.is_dense = pcl_pc2.is_dense;
    }
  
    inline
    void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
    {
      copyPCLPointCloud2MetaData(pcl_pc2, pc2);
      pc2.data = pcl_pc2.data;
    }
  
    inline
    void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
    {
      copyPCLPointCloud2MetaData(pcl_pc2, pc2);
      pc2.data.swap(pcl_pc2.data);
    }
  
    inline
    void copyPointCloud2MetaData(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
    {
      toPCL(pc2.header, pcl_pc2.header);
      pcl_pc2.height = pc2.height;
      pcl_pc2.width = pc2.width;
      toPCL(pc2.fields, pcl_pc2.fields);
      pcl_pc2.is_bigendian = pc2.is_bigendian;
      pcl_pc2.point_step = pc2.point_step;
      pcl_pc2.row_step = pc2.row_step;
      pcl_pc2.is_dense = pc2.is_dense;
    }
  
    inline
    void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
    {
      copyPointCloud2MetaData(pc2, pcl_pc2);
      pcl_pc2.data = pc2.data;
    }
  
    inline
    void moveToPCL(sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
    {
      copyPointCloud2MetaData(pc2, pcl_pc2);
      pcl_pc2.data.swap(pc2.data);
    }
  
    /** pcl::PointIndices <=> pcl_msgs::PointIndices **/
  
    inline
    void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi)
    {
      fromPCL(pcl_pi.header, pi.header);
      pi.indices = pcl_pi.indices;
    }
  
    inline
    void moveFromPCL(pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi)
    {
      fromPCL(pcl_pi.header, pi.header);
      pi.indices.swap(pcl_pi.indices);
    }
  
    inline
    void toPCL(const pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi)
    {
      toPCL(pi.header, pcl_pi.header);
      pcl_pi.indices = pi.indices;
    }
  
    inline
    void moveToPCL(pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi)
    {
      toPCL(pi.header, pcl_pi.header);
      pcl_pi.indices.swap(pi.indices);
    }
  
    /** pcl::ModelCoefficients <=> pcl_msgs::ModelCoefficients **/
  
    inline
    void fromPCL(const pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc)
    {
      fromPCL(pcl_mc.header, mc.header);
      mc.values = pcl_mc.values;
    }
  
    inline
    void moveFromPCL(pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc)
    {
      fromPCL(pcl_mc.header, mc.header);
      mc.values.swap(pcl_mc.values);
    }
  
    inline
    void toPCL(const pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
    {
      toPCL(mc.header, pcl_mc.header);
      pcl_mc.values = mc.values;
    }
  
    inline
    void moveToPCL(pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
    {
      toPCL(mc.header, pcl_mc.header);
      pcl_mc.values.swap(mc.values);
    }
  
    /** pcl::Vertices <=> pcl_msgs::Vertices **/
  
    inline
    void fromPCL(const pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert)
    {
      vert.vertices = pcl_vert.vertices;
    }
  
    inline
    void fromPCL(const std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts)
    {
      verts.resize(pcl_verts.size());
      std::vector<pcl::Vertices>::const_iterator it = pcl_verts.begin();
      std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin();
      for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
        fromPCL(*(it), *(jt));
      }
    }
  
    inline
    void moveFromPCL(pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert)
    {
      vert.vertices.swap(pcl_vert.vertices);
    }
  
    inline
    void fromPCL(std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts)
    {
      verts.resize(pcl_verts.size());
      std::vector<pcl::Vertices>::iterator it = pcl_verts.begin();
      std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin();
      for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
        moveFromPCL(*(it), *(jt));
      }
    }
  
    inline
    void toPCL(const pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert)
    {
      pcl_vert.vertices = vert.vertices;
    }
  
    inline
    void toPCL(const std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
    {
      pcl_verts.resize(verts.size());
      std::vector<pcl_msgs::Vertices>::const_iterator it = verts.begin();
      std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
      for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
        toPCL(*(it), *(jt));
      }
    }
  
    inline
    void moveToPCL(pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert)
    {
      pcl_vert.vertices.swap(vert.vertices);
    }
  
    inline
    void moveToPCL(std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
    {
      pcl_verts.resize(verts.size());
      std::vector<pcl_msgs::Vertices>::iterator it = verts.begin();
      std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
      for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
        moveToPCL(*(it), *(jt));
      }
    }
  
    /** pcl::PolygonMesh <=> pcl_msgs::PolygonMesh **/
  
    inline
    void fromPCL(const pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh)
    {
      fromPCL(pcl_mesh.header, mesh.header);
      fromPCL(pcl_mesh.cloud, mesh.cloud);
      fromPCL(pcl_mesh.polygons, mesh.polygons);
    }
  
    inline
    void moveFromPCL(pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh)
    {
      fromPCL(pcl_mesh.header, mesh.header);
      moveFromPCL(pcl_mesh.cloud, mesh.cloud);
      moveFromPCL(pcl_mesh.cloud, mesh.cloud);
    }
  
    inline
    void toPCL(const pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
    {
      toPCL(mesh.header, pcl_mesh.header);
      toPCL(mesh.cloud, pcl_mesh.cloud);
      toPCL(mesh.polygons, pcl_mesh.polygons);
    }
  
    inline
    void moveToPCL(pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
    {
      toPCL(mesh.header, pcl_mesh.header);
      moveToPCL(mesh.cloud, pcl_mesh.cloud);
      moveToPCL(mesh.polygons, pcl_mesh.polygons);
    }
  
  } // namespace pcl_conversions
  
  namespace pcl {
  
    /** Overload pcl::getFieldIndex **/
  
    inline int getFieldIndex(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 (static_cast<int>(d));
        }
      }
      return (-1);
    }
  
    /** Overload pcl::getFieldsList **/
  
    inline std::string getFieldsList(const sensor_msgs::PointCloud2 &cloud)
    {
      std::string result;
      for (size_t i = 0; i < cloud.fields.size () - 1; ++i) {
        result += cloud.fields[i].name + " ";
      }
      result += cloud.fields[cloud.fields.size () - 1].name;
      return (result);
    }
  
    /** Provide pcl::toROSMsg **/
  
    inline
    void toROSMsg(const sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image)
    {
      pcl::PCLPointCloud2 pcl_cloud;
      pcl_conversions::toPCL(cloud, pcl_cloud);
      pcl::PCLImage pcl_image;
      pcl::toPCLPointCloud2(pcl_cloud, pcl_image);
      pcl_conversions::moveFromPCL(pcl_image, image);
    }
  
    inline
    void moveToROSMsg(sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image)
    {
      pcl::PCLPointCloud2 pcl_cloud;
      pcl_conversions::moveToPCL(cloud, pcl_cloud);
      pcl::PCLImage pcl_image;
      pcl::toPCLPointCloud2(pcl_cloud, pcl_image);
      pcl_conversions::moveFromPCL(pcl_image, image);
    }
  
    template<typename T> void
    toROSMsg (const pcl::PointCloud<T> &cloud, sensor_msgs::Image& msg)
    {
      // Ease the user's burden on specifying width/height for unorganized datasets
      if (cloud.width == 0 && cloud.height == 0)
      {
        throw std::runtime_error("Needs to be a dense like cloud!!");
      }
      else
      {
        if (cloud.points.size () != cloud.width * cloud.height)
          throw std::runtime_error("The width and height do not match the cloud size!");
        msg.height = cloud.height;
        msg.width = cloud.width;
      }
  
      // sensor_msgs::image_encodings::BGR8;
      msg.encoding = "bgr8";
      msg.step = msg.width * sizeof (uint8_t) * 3;
      msg.data.resize (msg.step * msg.height);
      for (size_t y = 0; y < cloud.height; y++)
      {
        for (size_t x = 0; x < cloud.width; x++)
        {
          uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
          memcpy (pixel, &cloud (x, y).rgb, 3 * sizeof(uint8_t));
        }
      }
    }
  
    /** Provide to/fromROSMsg for sensor_msgs::PointCloud2 <=> pcl::PointCloud<T> **/
  
    template<typename T>
    void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::PointCloud2 &cloud)
    {
      pcl::PCLPointCloud2 pcl_pc2;
      pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
      pcl_conversions::moveFromPCL(pcl_pc2, cloud);
    }
  
    template<typename T>
    void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
    {
      pcl::PCLPointCloud2 pcl_pc2;
      pcl_conversions::toPCL(cloud, pcl_pc2);
      pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
    }
  
    template<typename T>
    void moveFromROSMsg(sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
    {
      pcl::PCLPointCloud2 pcl_pc2;
      pcl_conversions::moveToPCL(cloud, pcl_pc2);
      pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
    }
  
    /** Overload pcl::createMapping **/
  
    template<typename PointT>
    void createMapping(const std::vector<sensor_msgs::PointField>& msg_fields, MsgFieldMap& field_map)
    {
      std::vector<pcl::PCLPointField> pcl_msg_fields;
      pcl_conversions::toPCL(msg_fields, pcl_msg_fields);
      return createMapping<PointT>(pcl_msg_fields, field_map);
    }
  
    namespace io {
  
      /** Overload pcl::io::savePCDFile **/
  
      inline int
      savePCDFile(const std::string &file_name, const sensor_msgs::PointCloud2 &cloud,
                  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
                  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                  const bool binary_mode = false)
      {
        pcl::PCLPointCloud2 pcl_cloud;
        pcl_conversions::toPCL(cloud, pcl_cloud);
        return pcl::io::savePCDFile(file_name, pcl_cloud, origin, orientation, binary_mode);
      }
  
      inline int
      destructiveSavePCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
                             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
                             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                             const bool binary_mode = false)
      {
        pcl::PCLPointCloud2 pcl_cloud;
        pcl_conversions::moveToPCL(cloud, pcl_cloud);
        return pcl::io::savePCDFile(file_name, pcl_cloud, origin, orientation, binary_mode);
      }
  
      /** Overload pcl::io::loadPCDFile **/
  
      inline int loadPCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
      {
        pcl::PCLPointCloud2 pcl_cloud;
        int ret = pcl::io::loadPCDFile(file_name, pcl_cloud);
        pcl_conversions::moveFromPCL(pcl_cloud, cloud);
        return ret;
      }
  
    } // namespace io
  
    /** Overload asdf **/
  
    inline
    bool concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1,
                                const sensor_msgs::PointCloud2 &cloud2,
                                sensor_msgs::PointCloud2 &cloud_out)
    {
      //if one input cloud has no points, but the other input does, just return the cloud with points
      if (cloud1.width * cloud1.height == 0 && cloud2.width * cloud2.height > 0)
      {
        cloud_out = cloud2;
        return (true);
      }
      else if (cloud1.width*cloud1.height > 0 && cloud2.width*cloud2.height == 0)
      {
        cloud_out = cloud1;
        return (true);
      }
  
      bool strip = false;
      for (size_t i = 0; i < cloud1.fields.size (); ++i)
        if (cloud1.fields[i].name == "_")
          strip = true;
  
      for (size_t i = 0; i < cloud2.fields.size (); ++i)
        if (cloud2.fields[i].name == "_")
          strip = true;
  
      if (!strip && cloud1.fields.size () != cloud2.fields.size ())
      {
        PCL_ERROR ("[pcl::concatenatePointCloud] Number of fields in cloud1 (%u) != Number of fields in cloud2 (%u)\n", cloud1.fields.size (), cloud2.fields.size ());
        return (false);
      }
  
      // Copy cloud1 into cloud_out
      cloud_out = cloud1;
      size_t nrpts = cloud_out.data.size ();
      // Height = 1 => no more organized
      cloud_out.width    = cloud1.width * cloud1.height + cloud2.width * cloud2.height;
      cloud_out.height   = 1;
      if (!cloud1.is_dense || !cloud2.is_dense)
        cloud_out.is_dense = false;
      else
        cloud_out.is_dense = true;
  
      // We need to strip the extra padding fields
      if (strip)
      {
        // Get the field sizes for the second cloud
        std::vector<sensor_msgs::PointField> fields2;
        std::vector<int> fields2_sizes;
        for (size_t j = 0; j < cloud2.fields.size (); ++j)
        {
          if (cloud2.fields[j].name == "_")
            continue;
  
          fields2_sizes.push_back (cloud2.fields[j].count *
                                   pcl::getFieldSize (cloud2.fields[j].datatype));
          fields2.push_back (cloud2.fields[j]);
        }
  
        cloud_out.data.resize (nrpts + (cloud2.width * cloud2.height) * cloud_out.point_step);
  
        // Copy the second cloud
        for (size_t cp = 0; cp < cloud2.width * cloud2.height; ++cp)
        {
          int i = 0;
          for (size_t j = 0; j < fields2.size (); ++j)
          {
            if (cloud1.fields[i].name == "_")
            {
              ++i;
              continue;
            }
  
            // We're fine with the special RGB vs RGBA use case
            if ((cloud1.fields[i].name == "rgb" && fields2[j].name == "rgba") ||
                (cloud1.fields[i].name == "rgba" && fields2[j].name == "rgb") ||
                (cloud1.fields[i].name == fields2[j].name))
            {
              memcpy (reinterpret_cast<char*> (&cloud_out.data[nrpts + cp * cloud1.point_step + cloud1.fields[i].offset]),
                      reinterpret_cast<const char*> (&cloud2.data[cp * cloud2.point_step + cloud2.fields[j].offset]),
                      fields2_sizes[j]);
              ++i;  // increment the field size i
            }
          }
        }
      }
      else
      {
        for (size_t i = 0; i < cloud1.fields.size (); ++i)
        {
          // We're fine with the special RGB vs RGBA use case
          if ((cloud1.fields[i].name == "rgb" && cloud2.fields[i].name == "rgba") ||
              (cloud1.fields[i].name == "rgba" && cloud2.fields[i].name == "rgb"))
            continue;
          // Otherwise we need to make sure the names are the same
          if (cloud1.fields[i].name != cloud2.fields[i].name)
          {
            PCL_ERROR ("[pcl::concatenatePointCloud] Name of field %d in cloud1, %s, does not match name in cloud2, %s\n", i, cloud1.fields[i].name.c_str (), cloud2.fields[i].name.c_str ());
            return (false);
          }
        }
        cloud_out.data.resize (nrpts + cloud2.data.size ());
        memcpy (&cloud_out.data[nrpts], &cloud2.data[0], cloud2.data.size ());
      }
      return (true);
    }
  
  } // namespace pcl
  
  namespace ros
  {
    template<>
    struct DefaultMessageCreator<pcl::PCLPointCloud2>
    {
      boost::shared_ptr<pcl::PCLPointCloud2> operator() ()
      {
        boost::shared_ptr<pcl::PCLPointCloud2> msg(new pcl::PCLPointCloud2());
        return msg;
      }
    };
  
    namespace message_traits
    {
      template<>
      struct MD5Sum<pcl::PCLPointCloud2>
      {
        static const char* value() { return MD5Sum<sensor_msgs::PointCloud2>::value(); }
        static const char* value(const pcl::PCLPointCloud2&) { return value(); }
  
        static const uint64_t static_value1 = MD5Sum<sensor_msgs::PointCloud2>::static_value1;
        static const uint64_t static_value2 = MD5Sum<sensor_msgs::PointCloud2>::static_value2;
  
        // If the definition of sensor_msgs/PointCloud2 changes, we'll get a compile error here.
        ROS_STATIC_ASSERT(static_value1 == 0x1158d486dd51d683ULL);
        ROS_STATIC_ASSERT(static_value2 == 0xce2f1be655c3c181ULL);
      };
  
      template<>
      struct DataType<pcl::PCLPointCloud2>
      {
        static const char* value() { return DataType<sensor_msgs::PointCloud2>::value(); }
        static const char* value(const pcl::PCLPointCloud2&) { return value(); }
      };
  
      template<>
      struct Definition<pcl::PCLPointCloud2>
      {
        static const char* value() { return Definition<sensor_msgs::PointCloud2>::value(); }
        static const char* value(const pcl::PCLPointCloud2&) { return value(); }
      };
  
      template<> struct HasHeader<pcl::PCLPointCloud2> : TrueType {};
    } // namespace ros::message_traits
  
    namespace serialization
    {
      /*
       * Provide a custom serialization for pcl::PCLPointCloud2
       */
      template<>
      struct Serializer<pcl::PCLPointCloud2>
      {
        template<typename Stream>
        inline static void write(Stream& stream, const pcl::PCLPointCloud2& m)
        {
          std_msgs::Header header;
          pcl_conversions::fromPCL(m.header, header);
          stream.next(header);
          stream.next(m.height);
          stream.next(m.width);
          std::vector<sensor_msgs::PointField> pfs;
          pcl_conversions::fromPCL(m.fields, pfs);
          stream.next(pfs);
          stream.next(m.is_bigendian);
          stream.next(m.point_step);
          stream.next(m.row_step);
          stream.next(m.data);
          stream.next(m.is_dense);
        }
  
        template<typename Stream>
        inline static void read(Stream& stream, pcl::PCLPointCloud2& m)
        {
          std_msgs::Header header;
          stream.next(header);
          pcl_conversions::toPCL(header, m.header);
          stream.next(m.height);
          stream.next(m.width);
          std::vector<sensor_msgs::PointField> pfs;
          stream.next(pfs);
          pcl_conversions::toPCL(pfs, m.fields);
          stream.next(m.is_bigendian);
          stream.next(m.point_step);
          stream.next(m.row_step);
          stream.next(m.data);
          stream.next(m.is_dense);
        }
  
        inline static uint32_t serializedLength(const pcl::PCLPointCloud2& m)
        {
          uint32_t length = 0;
  
          std_msgs::Header header;
          pcl_conversions::fromPCL(m.header, header);
          length += serializationLength(header);
          length += 4; // height
          length += 4; // width
          std::vector<sensor_msgs::PointField> pfs;
          pcl_conversions::fromPCL(m.fields, pfs);
          length += serializationLength(pfs); // fields
          length += 1; // is_bigendian
          length += 4; // point_step
          length += 4; // row_step
          length += 4; // data's size
          length += m.data.size() * sizeof(pcl::uint8_t);
          length += 1; // is_dense
  
          return length;
        }
      };
  
      /*
       * Provide a custom serialization for pcl::PCLPointField
       */
      template<>
      struct Serializer<pcl::PCLPointField>
      {
        template<typename Stream>
        inline static void write(Stream& stream, const pcl::PCLPointField& m)
        {
          stream.next(m.name);
          stream.next(m.offset);
          stream.next(m.datatype);
          stream.next(m.count);
        }
  
        template<typename Stream>
        inline static void read(Stream& stream, pcl::PCLPointField& m)
        {
          stream.next(m.name);
          stream.next(m.offset);
          stream.next(m.datatype);
          stream.next(m.count);
        }
  
        inline static uint32_t serializedLength(const pcl::PCLPointField& m)
        {
          uint32_t length = 0;
  
          length += serializationLength(m.name);
          length += serializationLength(m.offset);
          length += serializationLength(m.datatype);
          length += serializationLength(m.count);
  
          return length;
        }
      };
  
      /*
       * Provide a custom serialization for pcl::PCLHeader
       */
      template<>
      struct Serializer<pcl::PCLHeader>
      {
        template<typename Stream>
        inline static void write(Stream& stream, const pcl::PCLHeader& m)
        {
          std_msgs::Header header;
          pcl_conversions::fromPCL(m, header);
          stream.next(header);
        }
  
        template<typename Stream>
        inline static void read(Stream& stream, pcl::PCLHeader& m)
        {
          std_msgs::Header header;
          stream.next(header);
          pcl_conversions::toPCL(header, m);
        }
  
        inline static uint32_t serializedLength(const pcl::PCLHeader& m)
        {
          uint32_t length = 0;
  
          std_msgs::Header header;
          pcl_conversions::fromPCL(m, header);
          length += serializationLength(header);
  
          return length;
        }
      };
    } // namespace ros::serialization
  
  } // namespace ros
  
  
  #endif /* PCL_CONVERSIONS_H__ */
  