Remove ros

CMakeLists.txt

@@ -276,8 +276,6 @@ find_package(Qhull)
 # Cuda
 include(${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake)
 
-# Find ROS
-include(${PCL_SOURCE_DIR}/cmake/pcl_find_ros.cmake)
 # Find QT4
 find_package(Qt4)
 if (QT4_FOUND)

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/cloud_item.hpp

@@ -67,8 +67,8 @@ pcl::cloud_composer::CloudItem::printNumPoints () const
 template <typename PointT> pcl::cloud_composer::CloudItem* 
 pcl::cloud_composer::CloudItem::createCloudItemFromTemplate (const QString name, typename PointCloud<PointT>::Ptr cloud_ptr)
 {
-  sensor_msgs::PointCloud2::Ptr cloud_blob = boost::make_shared <sensor_msgs::PointCloud2> ();
-  toROSMsg (*cloud_ptr, *cloud_blob);
+  pcl::PCLPointCloud2::Ptr cloud_blob = boost::make_shared <pcl::PCLPointCloud2> ();
+  toPCLPointCloud2 (*cloud_ptr, *cloud_blob);
   CloudItem* cloud_item = new CloudItem ( name, cloud_blob,  Eigen::Vector4f (), Eigen::Quaternionf (), false);
   cloud_item->setData (QVariant::fromValue(cloud_ptr), ItemDataRole::CLOUD_TEMPLATED);
   cloud_item->setPointType<PointT> ();

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/merge_selection.hpp

@@ -90,8 +90,8 @@ pcl::cloud_composer::MergeSelection::performTemplatedAction (QList <const CloudC
 
       //Eigen::Vector4f source_origin = input_cloud_item->data (ItemDataRole::ORIGIN).value<Eigen::Vector4f> ();
       //Eigen::Quaternionf source_orientation =  input_cloud_item->data (ItemDataRole::ORIENTATION).value<Eigen::Quaternionf> ();
-      //sensor_msgs::PointCloud2::Ptr cloud_blob = boost::make_shared <sensor_msgs::PointCloud2> ();;
-      //toROSMsg (*original_minus_indices, *cloud_blob);
+      //pcl::PCLPointCloud2::Ptr cloud_blob = boost::make_shared <pcl::PCLPointCloud2> ();;
+      //toPCLPointCloud2 (*original_minus_indices, *cloud_blob);
       //CloudItem* new_cloud_item = new CloudItem (input_cloud_item->text ()
                                                   //, cloud_blob
                                             //      , source_origin

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h

@@ -43,8 +43,8 @@
 #include <pcl/search/kdtree.h>
 
 //Typedefs to make things sane
-typedef pcl::visualization::PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler;
-typedef pcl::visualization::PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler;
+typedef pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2> GeometryHandler;
+typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2> ColorHandler;
 
 namespace pcl
 {
@@ -71,7 +71,7 @@ namespace pcl
         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
         CloudItem (const QString name,
-                   const sensor_msgs::PointCloud2::Ptr cloud_ptr, 
+                   const pcl::PCLPointCloud2::Ptr cloud_ptr,
                    const Eigen::Vector4f& origin = Eigen::Vector4f (),
                    const Eigen::Quaternionf& orientation = Eigen::Quaternionf (),
                    bool make_templated_cloud = true);
@@ -125,7 +125,7 @@ namespace pcl
       private:
 
         //These are just stored for convenience 
-        sensor_msgs::PointCloud2::Ptr cloud_blob_ptr_;
+        pcl::PCLPointCloud2::Ptr cloud_blob_ptr_;
         ColorHandler::ConstPtr color_handler_;
         GeometryHandler::ConstPtr geometry_handler_;
 
@@ -176,7 +176,7 @@ namespace pcl
 }
 
 //Add PointCloud types to QT MetaType System
-Q_DECLARE_METATYPE (sensor_msgs::PointCloud2::ConstPtr);
+Q_DECLARE_METATYPE (pcl::PCLPointCloud2::ConstPtr);
 Q_DECLARE_METATYPE (GeometryHandler::ConstPtr);
 Q_DECLARE_METATYPE (ColorHandler::ConstPtr);
 Q_DECLARE_METATYPE (Eigen::Vector4f);
@@ -190,4 +190,4 @@ Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZ>::Ptr);
 Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZRGB>::Ptr);
 Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZRGBA>::Ptr);
 
-#endif //CLOUD_ITEM_H_
+#endif //CLOUD_ITEM_H_

apps/cloud_composer/src/cloud_composer.cpp

@@ -21,7 +21,7 @@ pcl::cloud_composer::ComposerMainWindow::ComposerMainWindow (QWidget *parent)
   this->setCorner (Qt::BottomRightCorner, Qt::RightDockWidgetArea);
 
    //Register types in Qt
-  qRegisterMetaType<sensor_msgs::PointCloud2::Ptr> ("PointCloud2Ptr");
+  qRegisterMetaType<pcl::PCLPointCloud2::Ptr> ("PCLPointCloud2Ptr");
   qRegisterMetaType<GeometryHandler::ConstPtr> ("GeometryHandlerConstPtr");
   qRegisterMetaType<ColorHandler::ConstPtr> ("ColorHandlerConstPtr");
   qRegisterMetaType<Eigen::Vector4f> ("EigenVector4f");

apps/cloud_composer/src/items/cloud_item.cpp

@@ -8,7 +8,7 @@
 #include <pcl/apps/cloud_composer/impl/cloud_item.hpp>
 
 pcl::cloud_composer::CloudItem::CloudItem (QString name,
-                                           sensor_msgs::PointCloud2::Ptr cloud_ptr, 
+                                           pcl::PCLPointCloud2::Ptr cloud_ptr,
                                            const Eigen::Vector4f& origin, 
                                            const Eigen::Quaternionf& orientation,
                                            bool make_templated_cloud)
@@ -25,15 +25,15 @@ pcl::cloud_composer::CloudItem::CloudItem (QString name,
 
 //  qDebug () << "Cloud size after passthrough : "<<cloud_filtered->width<<"x"<<cloud_filtered->height;
   cloud_blob_ptr_ = cloud_ptr;
-  sensor_msgs::PointCloud2::ConstPtr const_cloud_ptr = cloud_ptr;  
+  pcl::PCLPointCloud2::ConstPtr const_cloud_ptr = cloud_ptr;
   this->setData (QVariant::fromValue (const_cloud_ptr), ItemDataRole::CLOUD_BLOB);
   this->setData (QVariant::fromValue (origin_), ItemDataRole::ORIGIN);
   this->setData (QVariant::fromValue (orientation_), ItemDataRole::ORIENTATION);
 
   //Create a color and geometry handler for this cloud
-  color_handler_.reset (new pcl::visualization::PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> (cloud_ptr));
+  color_handler_.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud_ptr));
   this->setData (QVariant::fromValue (color_handler_), ItemDataRole::COLOR_HANDLER);
-  geometry_handler_.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> (cloud_ptr));
+  geometry_handler_.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> (cloud_ptr));
   this->setData (QVariant::fromValue (geometry_handler_), ItemDataRole::GEOMETRY_HANDLER);
 
   properties_->addCategory ("Core Properties");
@@ -56,7 +56,7 @@ pcl::cloud_composer::CloudItem::CloudItem (QString name,
 pcl::cloud_composer::CloudItem*
 pcl::cloud_composer::CloudItem::clone () const
 {
-  sensor_msgs::PointCloud2::Ptr cloud_copy (new sensor_msgs::PointCloud2 (*cloud_blob_ptr_));
+  pcl::PCLPointCloud2::Ptr cloud_copy (new pcl::PCLPointCloud2 (*cloud_blob_ptr_));
   //Vector4f and Quaternionf do deep copies using constructor
   CloudItem* new_item = new CloudItem (this->text (), cloud_copy, origin_,orientation_);
 
@@ -114,8 +114,8 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
   if (! template_cloud_set_ )
   {
     int num_fields = cloud_blob_ptr_->fields.size ();
-    std::vector<sensor_msgs::PointField>::iterator end = cloud_blob_ptr_->fields.end ();
-    std::vector<sensor_msgs::PointField>::iterator itr = cloud_blob_ptr_->fields.begin ();
+    std::vector<pcl::PCLPointField>::iterator end = cloud_blob_ptr_->fields.end ();
+    std::vector<pcl::PCLPointField>::iterator itr = cloud_blob_ptr_->fields.begin ();
     QStringList field_names;
     for ( itr = cloud_blob_ptr_->fields.begin ()  ; itr != end; ++itr)
     {
@@ -145,7 +145,7 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
       case (PointTypeFlags::XYZ):
       {
         pcl::PointCloud <PointXYZ>::Ptr cloud_ptr =  boost::make_shared<pcl::PointCloud <PointXYZ> >();
-        pcl::fromROSMsg (*cloud_blob_ptr_, *cloud_ptr); 
+        pcl::fromPCLPointCloud2 (*cloud_blob_ptr_, *cloud_ptr);
         cloud_pointer_variant = QVariant::fromValue (cloud_ptr);
         //Initialize the search kd-tree for this cloud
         pcl::search::KdTree<PointXYZ>::Ptr kd_search = boost::make_shared<search::KdTree<PointXYZ> >();
@@ -156,7 +156,7 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
       case (PointTypeFlags::XYZ | PointTypeFlags::RGB):
       {
         pcl::PointCloud <PointXYZRGB>::Ptr cloud_ptr =  boost::make_shared<pcl::PointCloud <PointXYZRGB> >();
-        pcl::fromROSMsg (*cloud_blob_ptr_, *cloud_ptr); 
+        pcl::fromPCLPointCloud2 (*cloud_blob_ptr_, *cloud_ptr);
         cloud_pointer_variant = QVariant::fromValue (cloud_ptr);
         pcl::search::KdTree<PointXYZRGB>::Ptr kd_search = boost::make_shared<search::KdTree<PointXYZRGB> >();
         kd_search->setInputCloud (cloud_ptr);
@@ -166,7 +166,7 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
       case (PointTypeFlags::XYZ | PointTypeFlags::RGBA):
       {
         pcl::PointCloud <PointXYZRGBA>::Ptr cloud_ptr =  boost::make_shared<pcl::PointCloud <PointXYZRGBA> >();
-        pcl::fromROSMsg (*cloud_blob_ptr_, *cloud_ptr); 
+        pcl::fromPCLPointCloud2 (*cloud_blob_ptr_, *cloud_ptr);
         cloud_pointer_variant = QVariant::fromValue (cloud_ptr);
         pcl::search::KdTree<PointXYZRGBA>::Ptr kd_search = boost::make_shared<search::KdTree<PointXYZRGBA> >();
         kd_search->setInputCloud (cloud_ptr);
@@ -194,8 +194,8 @@ pcl::cloud_composer::CloudItem::checkIfFinite ()
   if (! cloud_blob_ptr_)
     return false;
 
-  sensor_msgs::PointCloud2::Ptr cloud_filtered = boost::make_shared<sensor_msgs::PointCloud2> ();
-  pcl::PassThrough<sensor_msgs::PointCloud2> pass_filter;
+  pcl::PCLPointCloud2::Ptr cloud_filtered = boost::make_shared<pcl::PCLPointCloud2> ();
+  pcl::PassThrough<pcl::PCLPointCloud2> pass_filter;
   pass_filter.setInputCloud (cloud_blob_ptr_);
   pass_filter.setKeepOrganized (false);
   pass_filter.filter (*cloud_filtered);

apps/cloud_composer/src/items/normals_item.cpp

@@ -42,9 +42,9 @@ pcl::cloud_composer::NormalsItem::paintView (boost::shared_ptr<pcl::visualizatio
   if (parent ()->type () == CLOUD_ITEM)
   {
     QVariant cloud_ptr = parent ()->data (ItemDataRole::CLOUD_BLOB);
-    sensor_msgs::PointCloud2::ConstPtr cloud_blob = cloud_ptr.value<sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr cloud_blob = cloud_ptr.value<pcl::PCLPointCloud2::ConstPtr> ();
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
-    pcl::fromROSMsg (*cloud_blob, *cloud); 
+    pcl::fromPCLPointCloud2 (*cloud_blob, *cloud);
     double scale = properties_->getProperty ("Scale").toDouble ();
     int level = properties_->getProperty ("Level").toInt ();
     qDebug () << "Removing old normals...";
@@ -64,4 +64,4 @@ pcl::cloud_composer::NormalsItem::removeFromView (boost::shared_ptr<pcl::visuali
 {  
   //qDebug () << "Removing Normals "<<item_id_;
   vis->removePointCloud (getId ().toStdString ());
-}
+}

apps/cloud_composer/src/merge_selection.cpp

@@ -53,22 +53,22 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
     }
   }
 
-  pcl::ExtractIndices<sensor_msgs::PointCloud2> filter;
-  sensor_msgs::PointCloud2::Ptr merged_cloud (new sensor_msgs::PointCloud2);
+  pcl::ExtractIndices<pcl::PCLPointCloud2> filter;
+  pcl::PCLPointCloud2::Ptr merged_cloud (new pcl::PCLPointCloud2);
   foreach (const CloudItem* input_cloud_item, selected_item_index_map_.keys ())
   {
     //If this cloud hasn't been completely selected 
     if (!input_data.contains (input_cloud_item))
     {
-      sensor_msgs::PointCloud2::ConstPtr input_cloud = input_cloud_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+      pcl::PCLPointCloud2::ConstPtr input_cloud = input_cloud_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
       qDebug () << "Extracting "<<selected_item_index_map_.value(input_cloud_item)->indices.size() << " points out of "<<input_cloud->width;
       filter.setInputCloud (input_cloud);
       filter.setIndices (selected_item_index_map_.value (input_cloud_item));
-      sensor_msgs::PointCloud2::Ptr original_minus_indices = boost::make_shared <sensor_msgs::PointCloud2> ();
+      pcl::PCLPointCloud2::Ptr original_minus_indices = boost::make_shared <pcl::PCLPointCloud2> ();
       filter.setNegative (true);
       filter.filter (*original_minus_indices);
       filter.setNegative (false);
-      sensor_msgs::PointCloud2::Ptr selected_points (new sensor_msgs::PointCloud2);
+      pcl::PCLPointCloud2::Ptr selected_points (new pcl::PCLPointCloud2);
       filter.filter (*selected_points);
 
       qDebug () << "Original minus indices is "<<original_minus_indices->width;
@@ -79,7 +79,7 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
                                              , source_origin
                                              , source_orientation);
       output.append (new_cloud_item);
-      sensor_msgs::PointCloud2::Ptr temp_cloud = boost::make_shared <sensor_msgs::PointCloud2> ();
+      pcl::PCLPointCloud2::Ptr temp_cloud = boost::make_shared <pcl::PCLPointCloud2> ();
       concatenatePointCloud (*merged_cloud, *selected_points, *temp_cloud);
       merged_cloud = temp_cloud;
     }
@@ -89,9 +89,9 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
   //Just concatenate for all fully selected clouds
   foreach (const CloudComposerItem* input_item, input_data)
   {
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
 
-    sensor_msgs::PointCloud2::Ptr temp_cloud = boost::make_shared <sensor_msgs::PointCloud2> ();
+    pcl::PCLPointCloud2::Ptr temp_cloud = boost::make_shared <pcl::PCLPointCloud2> ();
     concatenatePointCloud (*merged_cloud, *input_cloud, *temp_cloud);
     merged_cloud = temp_cloud;
   }

apps/cloud_composer/src/project_model.cpp

@@ -170,7 +170,7 @@ pcl::cloud_composer::ProjectModel::insertNewCloudFromFile ()
     last_directory_ = file_info.absoluteDir ();
   }
 
-  sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2);
+  pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2);
   Eigen::Vector4f origin;
   Eigen::Quaternionf orientation;
   int version;
@@ -377,7 +377,7 @@ pcl::cloud_composer::ProjectModel::saveSelectedCloudToFile ()
     last_directory_ = file_info.absoluteDir ();
   }
 
-  sensor_msgs::PointCloud2::ConstPtr cloud = cloud_to_save->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+  pcl::PCLPointCloud2::ConstPtr cloud = cloud_to_save->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
   Eigen::Vector4f origin = cloud_to_save->data (ItemDataRole::ORIGIN).value <Eigen::Vector4f> ();
   Eigen::Quaternionf orientation = cloud_to_save->data (ItemDataRole::ORIENTATION).value <Eigen::Quaternionf> ();
   int result = pcl::io::savePCDFile (filename.toStdString (), *cloud, origin, orientation );

apps/cloud_composer/tools/euclidean_clustering.cpp

@@ -45,10 +45,10 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
       int min_cluster_size = parameter_model_->getProperty ("Min Cluster Size").toInt();
       int max_cluster_size = parameter_model_->getProperty ("Max Cluster Size").toInt();
 
-      sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+      pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
       //Get the cloud in template form
       pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
-      pcl::fromROSMsg (*input_cloud, *cloud); 
+      pcl::fromPCLPointCloud2 (*input_cloud, *cloud);
 
       //////////////// THE WORK - COMPUTING CLUSTERS ///////////////////
       // Creating the KdTree object for the search method of the extraction
@@ -72,7 +72,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
       //Put found clusters into new cloud_items!
       qDebug () << "Found "<<cluster_indices.size ()<<" clusters!";
       int cluster_count = 0;
-      pcl::ExtractIndices<sensor_msgs::PointCloud2> filter;
+      pcl::ExtractIndices<pcl::PCLPointCloud2> filter;
       for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
       {
         filter.setInputCloud (input_cloud);
@@ -82,7 +82,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
         extracted_indices->insert (extracted_indices->end (), it->indices.begin (), it->indices.end ());
         //This means remove the other points
         filter.setKeepOrganized (false);
-        sensor_msgs::PointCloud2::Ptr cloud_filtered (new sensor_msgs::PointCloud2);
+        pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2);
         filter.filter (*cloud_filtered);
 
         qDebug() << "Cluster has " << cloud_filtered->width << " data points.";
@@ -94,7 +94,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
         ++cluster_count;
       } 
       //We copy input cloud over for special case that no clusters found, since ExtractIndices doesn't work for 0 length vectors
-      sensor_msgs::PointCloud2::Ptr remainder_cloud (new sensor_msgs::PointCloud2(*input_cloud));
+      pcl::PCLPointCloud2::Ptr remainder_cloud (new pcl::PCLPointCloud2(*input_cloud));
       if (cluster_indices.size () > 0)
       {
         //make a cloud containing all the remaining points

apps/cloud_composer/tools/fpfh_estimation.cpp

@@ -55,10 +55,10 @@ pcl::cloud_composer::FPFHEstimationTool::performAction (ConstItemList input_data
 
     double radius = parameter_model_->getProperty("Radius").toDouble();
 
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
     //Get the cloud in template form
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
-    pcl::fromROSMsg (*input_cloud, *cloud); 
+    pcl::fromPCLPointCloud2 (*input_cloud, *cloud);
 
     //Get the normals cloud, we just use the first normals that were found if there are more than one
     pcl::PointCloud<pcl::Normal>::ConstPtr input_normals = normals_list.value(0)->data(ItemDataRole::CLOUD_TEMPLATED).value <pcl::PointCloud<pcl::Normal>::ConstPtr> ();
@@ -110,4 +110,4 @@ pcl::cloud_composer::FPFHEstimationToolFactory::createToolParameterModel (QObjec
   parameter_model->addProperty ("Radius", 0.03,  Qt::ItemIsEditable | Qt::ItemIsEnabled);
 
   return parameter_model;
-}
+}

apps/cloud_composer/tools/normal_estimation.cpp

@@ -37,16 +37,16 @@ pcl::cloud_composer::NormalEstimationTool::performAction (ConstItemList input_da
   }
   input_item = input_data.value (0);
 
-  sensor_msgs::PointCloud2::ConstPtr input_cloud;
+  pcl::PCLPointCloud2::ConstPtr input_cloud;
   if (input_item->type () == CloudComposerItem::CLOUD_ITEM)
   {
     double radius = parameter_model_->getProperty("Radius").toDouble();
     qDebug () << "Received Radius = " <<radius;
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
     qDebug () << "Got cloud size = "<<input_cloud->width;
     //////////////// THE WORK - COMPUTING NORMALS ///////////////////
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
-    pcl::fromROSMsg (*input_cloud, *cloud); 
+    pcl::fromPCLPointCloud2 (*input_cloud, *cloud);
     // Create the normal estimation class, and pass the input dataset to it
     pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
     ne.setInputCloud (cloud);
@@ -87,4 +87,4 @@ pcl::cloud_composer::NormalEstimationToolFactory::createToolParameterModel (QObj
   parameter_model->addProperty ("Radius", 0.04,  Qt::ItemIsEditable | Qt::ItemIsEnabled);
 
   return parameter_model;
-}
+}