168 lines
7.5 KiB
C
168 lines
7.5 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#ifndef pcl_ROS_TRANSFORMS_H_
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#define pcl_ROS_TRANSFORMS_H_
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/common/transforms.h>
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#include <tf/transform_datatypes.h>
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#include <tf/transform_listener.h>
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namespace pcl_ros
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{
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param cloud_in the input point cloud
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* \param cloud_out the input point cloud
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* \param transform a rigid transformation from tf
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* \note calls the Eigen version
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*/
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::Transform &transform);
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/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
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* \param target_frame the target TF frame the point cloud should be transformed to
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* \param cloud_in the input point cloud
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* \param cloud_out the input point cloud
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* \param tf_listener a TF listener object
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*/
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template <typename PointT> bool
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transformPointCloudWithNormals (const std::string &target_frame,
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const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener);
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/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
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* \param target_frame the target TF frame the point cloud should be transformed to
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* \param target_time the target timestamp
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* \param cloud_in the input point cloud
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* \param fixed_frame fixed TF frame
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* \param cloud_out the input point cloud
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* \param tf_listener a TF listener object
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*/
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template <typename PointT> bool
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transformPointCloudWithNormals (const std::string &target_frame,
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const ros::Time & target_time,
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const pcl::PointCloud <PointT> &cloud_in,
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const std::string &fixed_frame,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener);
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/** \brief Apply a rigid transform defined by a 3D offset and a quaternion
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* \param cloud_in the input point cloud
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* \param cloud_out the input point cloud
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* \param transform a rigid transformation from tf
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* \note calls the Eigen version
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*/
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::Transform &transform);
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/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
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* \param target_frame the target TF frame the point cloud should be transformed to
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* \param cloud_in the input point cloud
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* \param cloud_out the input point cloud
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* \param tf_listener a TF listener object
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*/
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template <typename PointT> bool
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transformPointCloud (const std::string &target_frame,
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const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener);
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/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
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* \param target_frame the target TF frame the point cloud should be transformed to
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* \param target_time the target timestamp
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* \param cloud_in the input point cloud
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* \param fixed_frame fixed TF frame
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* \param cloud_out the input point cloud
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* \param tf_listener a TF listener object
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*/
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template <typename PointT> bool
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transformPointCloud (const std::string &target_frame, const ros::Time & target_time,
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const pcl::PointCloud <PointT> &cloud_in,
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const std::string &fixed_frame,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener);
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/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
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* \param target_frame the target TF frame
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* \param in the input PointCloud2 dataset
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* \param out the resultant transformed PointCloud2 dataset
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* \param tf_listener a TF listener object
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*/
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bool
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transformPointCloud (const std::string &target_frame,
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const sensor_msgs::PointCloud2 &in,
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sensor_msgs::PointCloud2 &out,
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const tf::TransformListener &tf_listener);
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/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
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* \param target_frame the target TF frame
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* \param net_transform the TF transformer object
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* \param in the input PointCloud2 dataset
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* \param out the resultant transformed PointCloud2 dataset
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*/
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void
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transformPointCloud (const std::string &target_frame,
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const tf::Transform &net_transform,
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const sensor_msgs::PointCloud2 &in,
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sensor_msgs::PointCloud2 &out);
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/** \brief Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.
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* \param transform the transformation to use on the points
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* \param in the input PointCloud2 dataset
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* \param out the resultant transformed PointCloud2 dataset
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*/
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void
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transformPointCloud (const Eigen::Matrix4f &transform,
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const sensor_msgs::PointCloud2 &in,
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sensor_msgs::PointCloud2 &out);
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/** \brief Obtain the transformation matrix from TF into an Eigen form
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* \param bt the TF transformation
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* \param out_mat the Eigen transformation
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*/
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void
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transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat);
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}
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#endif // PCL_ROS_TRANSFORMS_H_
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