PointCloud_PointXYZRGBA does not support creating from array

[VisionaryMind]

Environment

• Operating System and version: Ubuntu 18.04 LTS
• Compiler: gcc (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) 7.5.0
• PCL Version: 1.8.1
• Cython Version: 0.29.21

Issue

Our code is generating a NumPy array of type Double for XYZRGBA pointclouds. This code fails:

p = pcl.PointCloud_PointXYZRGBA() p.from_array(data.astype(np.float32))

The error is:

File "pcl/pxi/PointCloud_PointXYZRGBA_180.pxi", line 143, in pcl._pcl.PointCloud_PointXYZRGBA.from_array AssertionError

A closer look at the pxi shows assert arr.shape[1] == 4, while XYZRGBZ shape should be 7. This class is improperly structured to support the PointCloud_PointXYZRGBA class.