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New toPCL and fromPCL functions

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This commit is contained in:
William Woodall 2013-07-08 16:33:56 -07:00
parent 2b131448db
commit 5c7d7c3f86
1 changed files with 36 additions and 12 deletions
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48
include/pcl_conversions/pcl_conversions.h
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@ -72,6 +72,20 @@ void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
pcl_header.frame_id = header.frame_id; pcl_header.frame_id = header.frame_id;
} }
std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
{
std_msgs::Header header;
fromPCL(pcl_header, header);
return header;
}
pcl::PCLHeader toPCL(const std_msgs::Header &header)
{
pcl::PCLHeader pcl_header;
toPCL(header, pcl_header);
return pcl_header;
}
/** PCLImage <=> Image **/ /** PCLImage <=> Image **/
void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image) void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
@ -106,6 +120,16 @@ void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
pf.count = pcl_pf.count; pf.count = pcl_pf.count;
} }
void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::PointField> &pfs)
{
pfs.resize(pcl_pfs.size());
std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
int i = 0;
for(; it != pcl_pfs.end(); ++it, ++i) {
fromPCL(*(it), pfs[i]);
}
}
void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf) void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
{ {
pcl_pf.name = pf.name; pcl_pf.name = pf.name;
@ -114,6 +138,16 @@ void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
pcl_pf.count = pf.count; pcl_pf.count = pf.count;
} }
void toPCL(const std::vector<sensor_msgs::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
{
pcl_pfs.resize(pfs.size());
std::vector<sensor_msgs::PointField>::const_iterator it = pfs.begin();
int i = 0;
for(; it != pfs.end(); ++it, ++i) {
toPCL(*(it), pcl_pfs[i]);
}
}
/** PCLPointCloud2 <=> PointCloud2 **/ /** PCLPointCloud2 <=> PointCloud2 **/
void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2) void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
@ -121,12 +155,7 @@ 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;
pc2.width = pcl_pc2.width; pc2.width = pcl_pc2.width;
pc2.fields.resize(pcl_pc2.fields.size()); fromPCL(pcl_pc2.fields, pc2.fields);
std::vector<pcl_sensor_msgs::PCLPointField>::const_iterator it = pcl_pc2.fields.begin();
int i = 0;
for(; it != pcl_pc2.fields.end(); ++it, ++i) {
fromPCL(*(it), pc2.fields[i]);
}
pc2.is_bigendian = pcl_pc2.is_bigendian; pc2.is_bigendian = pcl_pc2.is_bigendian;
pc2.point_step = pcl_pc2.point_step; pc2.point_step = pcl_pc2.point_step;
pc2.row_step = pcl_pc2.row_step; pc2.row_step = pcl_pc2.row_step;
@ -139,12 +168,7 @@ 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;
pcl_pc2.width = pc2.width; pcl_pc2.width = pc2.width;
pcl_pc2.fields.resize(pc2.fields.size()); toPCL(pc2.fields, pcl_pc2.fields);
std::vector<sensor_msgs::PointField>::const_iterator it = pc2.fields.begin();
int i = 0;
for(; it != pc2.fields.end(); ++it, ++i) {
toPCL(*(it), pcl_pc2.fields[i]);
}
pcl_pc2.is_bigendian = pc2.is_bigendian; pcl_pc2.is_bigendian = pc2.is_bigendian;
pcl_pc2.point_step = pc2.point_step; pcl_pc2.point_step = pc2.point_step;
pcl_pc2.row_step = pc2.row_step; pcl_pc2.row_step = pc2.row_step;