diff --git a/misc/float_array_to_pc2/CMakeLists.txt b/misc/float_array_to_pc2/CMakeLists.txt
new file mode 100644
index 00000000..8cb0a908
--- /dev/null
+++ b/misc/float_array_to_pc2/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(float_array_to_pc2)
+
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs cv pcl_conversions)
+
+catkin_package(CATKIN_DEPENDS roscpp sensor_msgs cv pcl_conversions)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(float_array_to_pc2_node src/float_array_to_pc2_node.cpp)
+target_link_libraries(float_array_to_pc2_node ${catkin_LIBRARIES})
+
+install(TARGETS float_array_to_pc2_node
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/misc/float_array_to_pc2/package.xml b/misc/float_array_to_pc2/package.xml
new file mode 100644
index 00000000..398fd5f6
--- /dev/null
+++ b/misc/float_array_to_pc2/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>float_array_to_pc2</name>
+  <version>0.0.0</version>
+  <description>The float_array_to_pc2 package</description>
+
+  <maintainer email="kajanan@todo.todo">kajanan</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv</depend>
+  <depend>pcl_conversions</depend>
+</package>
diff --git a/misc/float_array_to_pc2/src/float_array_to_pc2_node.cpp b/misc/float_array_to_pc2/src/float_array_to_pc2_node.cpp
new file mode 100644
index 00000000..74075dd2
--- /dev/null
+++ b/misc/float_array_to_pc2/src/float_array_to_pc2_node.cpp
@@ -0,0 +1,56 @@
+#include "cv/FloatArray.h"
+#include "geometry_msgs/Point.h"
+#include "pcl_conversions/pcl_conversions.h"
+#include "ros/node_handle.h"
+#include "ros/publisher.h"
+#include "ros/ros.h"
+#include "ros/subscriber.h"
+#include "sensor_msgs/PointCloud2.h"
+
+class FloatArrayToPointCloud2Node
+{
+  public:
+    FloatArrayToPointCloud2Node(ros::NodeHandle nh);
+    void floatArraycallback(const cv::FloatArray::ConstPtr &msg);
+
+  private:
+    ros::NodeHandle nh_;
+    ros::Subscriber float_array_sub_;
+    ros::Publisher points2_pub_;
+};
+
+FloatArrayToPointCloud2Node::FloatArrayToPointCloud2Node(ros::NodeHandle nh)
+    : nh_{nh}, float_array_sub_{nh_.subscribe(
+                   "/cv/lane_detections", 10,
+                   &FloatArrayToPointCloud2Node::floatArraycallback, this)},
+      points2_pub_{nh_.advertise<sensor_msgs::PointCloud2>(
+          "/cv/lane_detections_cloud", 1)}
+{
+}
+
+void FloatArrayToPointCloud2Node::floatArraycallback(
+    const cv::FloatArray::ConstPtr &msg)
+{
+    pcl::PointCloud<pcl::PointXYZ> output_cloud{};
+    for (const cv::FloatList &list : msg->lists) {
+        for (const geometry_msgs::Point &element : list.elements) {
+            pcl::PointXYZ point = pcl::PointXYZ(static_cast<float>(element.x),
+                                                static_cast<float>(element.y),
+                                                static_cast<float>(element.z));
+            output_cloud.push_back(point);
+        }
+    }
+
+    sensor_msgs::PointCloud2 output_msg;
+    pcl::toROSMsg(output_cloud, output_msg);
+    points2_pub_.publish(output_msg);
+}
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "float_array_to_pc2_node");
+    ros::NodeHandle nh("~");
+    FloatArrayToPointCloud2Node float_array_to_pc2_node(nh);
+    ros::spin();
+    return 0;
+}