apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Shorten the names of functions by popular demand.

Browse Source
This commit is contained in:
William Woodall 2013-06-28 12:07:30 -07:00
parent 034680bd5b
commit 17662604b8
2 changed files with 18 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
include/pcl_conversions/pcl_conversions.h
View File

@ -51,14 +51,14 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/
void fromPCLHeaderToHeader(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header)
void fromPCL(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header)
{
header.stamp.fromNSec(pcl_header.stamp * 1e3); // Convert from us to ns
header.seq = pcl_header.seq;
header.frame_id = pcl_header.frame_id;
}
void fromHeaderToPCLHeader(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header)
void toPCL(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header)
{
pcl_header.stamp = header.stamp.toNSec() / 1e3; // Convert from ns to us
pcl_header.seq = header.seq;
@ -67,9 +67,9 @@ void fromHeaderToPCLHeader(const std_msgs::Header &header, pcl_std_msgs::PCLHead
/** PCLImage <=> Image **/
void fromPCLImageToImage(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs::Image &image)
void fromPCL(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs::Image &image)
{
fromPCLHeaderToHeader(pcl_image.header, image.header);
fromPCL(pcl_image.header, image.header);
image.height = pcl_image.height;
image.width = pcl_image.width;
image.encoding = pcl_image.encoding;
@ -78,9 +78,9 @@ void fromPCLImageToImage(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs
image.data = pcl_image.data;
}
void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image)
void toPCL(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image)
{
fromHeaderToPCLHeader(image.header, pcl_image.header);
toPCL(image.header, pcl_image.header);
pcl_image.height = image.height;
pcl_image.width = image.width;
pcl_image.encoding = image.encoding;
@ -91,7 +91,7 @@ void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLIm
/** PCLPointCloud2 <=> PointCloud2 **/
void fromPCLPointFieldToPointField(const pcl_sensor_msgs::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
void fromPCL(const pcl_sensor_msgs::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
{
pf.name = pcl_pf.name;
pf.offset = pcl_pf.offset;
@ -99,7 +99,7 @@ void fromPCLPointFieldToPointField(const pcl_sensor_msgs::PCLPointField &pcl_pf,
pf.count = pcl_pf.count;
}
void fromPointFieldToPCLPointField(const sensor_msgs::PointField &pf, pcl_sensor_msgs::PCLPointField &pcl_pf)
void toPCL(const sensor_msgs::PointField &pf, pcl_sensor_msgs::PCLPointField &pcl_pf)
{
pcl_pf.name = pf.name;
pcl_pf.offset = pf.offset;
@ -109,16 +109,16 @@ void fromPointFieldToPCLPointField(const sensor_msgs::PointField &pf, pcl_sensor
/** PCLPointCloud2 <=> PointCloud2 **/
void fromPCLPointCloud2ToPointCloud2(const pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
void fromPCL(const pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
{
fromPCLHeaderToHeader(pcl_pc2.header, pc2.header);
fromPCL(pcl_pc2.header, pc2.header);
pc2.height = pcl_pc2.height;
pc2.width = pcl_pc2.width;
pc2.fields.resize(pcl_pc2.fields.size());
std::vector<pcl_sensor_msgs::PCLPointField>::const_iterator it = pcl_pc2.fields.begin();
int i = 0;
for(; it != pcl_pc2.fields.end(); ++it, ++i) {
fromPCLPointFieldToPointField(*(it), pc2.fields[i]);
fromPCL(*(it), pc2.fields[i]);
}
pc2.is_bigendian = pcl_pc2.is_bigendian;
pc2.point_step = pcl_pc2.point_step;
@ -127,16 +127,16 @@ void fromPCLPointCloud2ToPointCloud2(const pcl_sensor_msgs::PCLPointCloud2 &pcl_
pc2.is_dense = pcl_pc2.is_dense;
}
void fromPointCloud2ToPCLPointCloud2(const sensor_msgs::PointCloud2 &pc2, pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2)
void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2)
{
fromHeaderToPCLHeader(pc2.header, pcl_pc2.header);
toPCL(pc2.header, pcl_pc2.header);
pcl_pc2.height = pc2.height;
pcl_pc2.width = pc2.width;
pcl_pc2.fields.resize(pc2.fields.size());
std::vector<sensor_msgs::PointField>::const_iterator it = pc2.fields.begin();
int i = 0;
for(; it != pc2.fields.end(); ++it, ++i) {
fromPointFieldToPCLPointField(*(it), pcl_pc2.fields[i]);
toPCL(*(it), pcl_pc2.fields[i]);
}
pcl_pc2.is_bigendian = pc2.is_bigendian;
pcl_pc2.point_step = pc2.point_step;

8
test/test_pcl_conversions.cpp
View File

@ -61,10 +61,10 @@ void test_image(T &image) {
}
TEST_F(PCLConversionTests, imageConversion) {
pcl_conversions::fromPCLImageToImage(pcl_image, image);
pcl_conversions::fromPCL(pcl_image, image);
test_image(image);
pcl_sensor_msgs::PCLImage pcl_image2;
pcl_conversions::fromImageToPCLImage(image, pcl_image2);
pcl_conversions::toPCL(image, pcl_image2);
test_image(pcl_image2);
}
@ -91,10 +91,10 @@ void test_pc(T &pc) {
}
TEST_F(PCLConversionTests, pointcloud2Conversion) {
pcl_conversions::fromPCLPointCloud2ToPointCloud2(pcl_pc2, pc2);
pcl_conversions::fromPCL(pcl_pc2, pc2);
test_pc(pc2);
pcl_sensor_msgs::PCLPointCloud2 pcl_pc2_2;
pcl_conversions::fromPointCloud2ToPCLPointCloud2(pc2, pcl_pc2_2);
pcl_conversions::toPCL(pc2, pcl_pc2_2);
test_pc(pcl_pc2_2);
}