From 17662604b8def70831716ea2a7db38881a859395 Mon Sep 17 00:00:00 2001 From: William Woodall Date: Fri, 28 Jun 2013 12:07:30 -0700 Subject: [PATCH] Shorten the names of functions by popular demand. --- include/pcl_conversions/pcl_conversions.h | 28 +++++++++++------------ test/test_pcl_conversions.cpp | 8 +++---- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/include/pcl_conversions/pcl_conversions.h b/include/pcl_conversions/pcl_conversions.h index 0ded89d2..f142372e 100644 --- a/include/pcl_conversions/pcl_conversions.h +++ b/include/pcl_conversions/pcl_conversions.h @@ -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::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::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; diff --git a/test/test_pcl_conversions.cpp b/test/test_pcl_conversions.cpp index df647af2..e7cd99f2 100644 --- a/test/test_pcl_conversions.cpp +++ b/test/test_pcl_conversions.cpp @@ -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); }