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updating pcl namespaces

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This commit is contained in:
William Woodall 2013-07-08 16:32:39 -07:00
parent 9dc59ae6ec
commit 2b131448db
1 changed files with 16 additions and 12 deletions
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28
include/pcl_conversions/pcl_conversions.h
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@ -38,30 +38,34 @@
#include <vector> #include <vector>
#include <pcl_std_msgs/PCLHeader.h> #include <ros/ros.h>
#include <pcl/conversions.h>
#include <pcl/PCLHeader.h>
#include <std_msgs/Header.h> #include <std_msgs/Header.h>
#include <pcl_sensor_msgs/PCLImage.h> #include <pcl/PCLImage.h>
#include <sensor_msgs/Image.h> #include <sensor_msgs/Image.h>
#include <pcl_sensor_msgs/PCLPointField.h> #include <pcl/PCLPointField.h>
#include <sensor_msgs/PointField.h> #include <sensor_msgs/PointField.h>
#include <pcl_sensor_msgs/PCLPointCloud2.h> #include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
namespace pcl_conversions { namespace pcl_conversions {
/** PCLHeader <=> Header **/ /** PCLHeader <=> Header **/
void fromPCL(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header) void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
{ {
header.stamp.fromNSec(pcl_header.stamp * 1e3); // Convert from us to ns header.stamp.fromNSec(pcl_header.stamp * 1e3); // Convert from us to ns
header.seq = pcl_header.seq; header.seq = pcl_header.seq;
header.frame_id = pcl_header.frame_id; header.frame_id = pcl_header.frame_id;
} }
void toPCL(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header) void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
{ {
pcl_header.stamp = header.stamp.toNSec() / 1e3; // Convert from ns to us pcl_header.stamp = header.stamp.toNSec() / 1e3; // Convert from ns to us
pcl_header.seq = header.seq; pcl_header.seq = header.seq;
@ -70,7 +74,7 @@ void toPCL(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header)
/** PCLImage <=> Image **/ /** PCLImage <=> Image **/
void fromPCL(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs::Image &image) void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
{ {
fromPCL(pcl_image.header, image.header); fromPCL(pcl_image.header, image.header);
image.height = pcl_image.height; image.height = pcl_image.height;
@ -81,7 +85,7 @@ void fromPCL(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs::Image &ima
image.data = pcl_image.data; image.data = pcl_image.data;
} }
void toPCL(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image) void toPCL(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
{ {
toPCL(image.header, pcl_image.header); toPCL(image.header, pcl_image.header);
pcl_image.height = image.height; pcl_image.height = image.height;
@ -94,7 +98,7 @@ void toPCL(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image
/** PCLPointCloud2 <=> PointCloud2 **/ /** PCLPointCloud2 <=> PointCloud2 **/
void fromPCL(const pcl_sensor_msgs::PCLPointField &pcl_pf, sensor_msgs::PointField &pf) void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
{ {
pf.name = pcl_pf.name; pf.name = pcl_pf.name;
pf.offset = pcl_pf.offset; pf.offset = pcl_pf.offset;
@ -102,7 +106,7 @@ void fromPCL(const pcl_sensor_msgs::PCLPointField &pcl_pf, sensor_msgs::PointFie
pf.count = pcl_pf.count; pf.count = pcl_pf.count;
} }
void toPCL(const sensor_msgs::PointField &pf, pcl_sensor_msgs::PCLPointField &pcl_pf) void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
{ {
pcl_pf.name = pf.name; pcl_pf.name = pf.name;
pcl_pf.offset = pf.offset; pcl_pf.offset = pf.offset;
@ -112,7 +116,7 @@ void toPCL(const sensor_msgs::PointField &pf, pcl_sensor_msgs::PCLPointField &pc
/** PCLPointCloud2 <=> PointCloud2 **/ /** PCLPointCloud2 <=> PointCloud2 **/
void fromPCL(const pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2) void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
{ {
fromPCL(pcl_pc2.header, pc2.header); fromPCL(pcl_pc2.header, pc2.header);
pc2.height = pcl_pc2.height; pc2.height = pcl_pc2.height;
@ -130,7 +134,7 @@ void fromPCL(const pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointC
pc2.is_dense = pcl_pc2.is_dense; pc2.is_dense = pcl_pc2.is_dense;
} }
void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2) void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{ {
toPCL(pc2.header, pcl_pc2.header); toPCL(pc2.header, pcl_pc2.header);
pcl_pc2.height = pc2.height; pcl_pc2.height = pc2.height;