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add conversions for PointIndices

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This commit is contained in:
William Woodall 2013-07-08 17:36:58 -07:00
parent 2e89da5996
commit 6b77c9163f
1 changed files with 16 additions and 0 deletions
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16
include/pcl_conversions/pcl_conversions.h
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@ -54,6 +54,9 @@
#include <pcl/PCLPointCloud2.h> #include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <pcl/PointIndices.h>
#include <pcl_msgs/PointIndices.h>
#include <pcl/io/pcd_io.h> #include <pcl/io/pcd_io.h>
#include <Eigen/StdVector> #include <Eigen/StdVector>
@ -181,6 +184,19 @@ void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
pcl_pc2.is_dense = pc2.is_dense; pcl_pc2.is_dense = pc2.is_dense;
} }
/** pcl::PointIndices <=> pcl_msgs::PointIndices **/
void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi)
{
fromPCL(pcl_pi.header, pi.header);
pi.indices = pcl_pi.indices;
}
void toPCL(const pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi)
{
toPCL(pi.header, pcl_pi.header);
pcl_pi.indices = pi.indices;
}
} // namespace pcl_conversions } // namespace pcl_conversions
namespace pcl { namespace pcl {