[field match]How to get whether a field is valid？ about pcl

[mvieth]

One way could be to load the file as a pcl::PCLPointCloud2 instead, check its fields attribute, then convert to pcl::PointCloud<pcl::PointXYZ>. See:
https://github.com/PointCloudLibrary/pcl/blob/master/io/include/pcl/io/pcd_io.h#L279
https://pointclouds.org/documentation/structpcl_1_1_p_c_l_point_cloud2.html

[QiuYilin]

I think that the memory structures of PointCloud2 and PointXYZ are different, and the conversion will cause unnecessary time consumption. It may be better to provide an additional tool function.

[mvieth]

The conversion happens anyway. If you load the file into a pcl::PointCloud<pcl::PointXYZ, the conversion just happens internally in PCDReader (see the first link I provided). What I described does not cause any additional time consumption, it only gives you access to the intermediate pcl::PCLPointCloud2.

[QiuYilin]

get