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

Added more pcl::to/fromROSMsg which went missing in 1.7

Browse Source
This commit is contained in:
William Woodall 2013-07-09 21:49:26 -07:00
parent 4b6240e924
commit 85d9828cd8
1 changed files with 29 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
include/pcl_conversions/pcl_conversions.h
View File

@ -472,7 +472,34 @@ namespace pcl {
pcl_conversions::moveFromPCL(pcl_image, image); pcl_conversions::moveFromPCL(pcl_image, image);
} }
/** Provide to/fromROSMsg for sensor_msgs::PointCloud2 <=> pcl::PointCloud<T> **/
template<typename T>
void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::PointCloud2 &cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
pcl_conversions::moveFromPCL(pcl_pc2, cloud);
}
template<typename T>
void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(cloud, pcl_pc2);
pcl::toPCLPointCloud2(pcl_cloud, cloud);
}
template<typename T>
void moveFromROSMsg(sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::moveToPCL(cloud, pcl_pc2);
pcl::toPCLPointCloud2(pcl_cloud, cloud);
}
/** Overload pcl::createMapping **/ /** Overload pcl::createMapping **/
template<typename PointT> template<typename PointT>
void createMapping(const std::vector<sensor_msgs::PointField>& msg_fields, MsgFieldMap& field_map) void createMapping(const std::vector<sensor_msgs::PointField>& msg_fields, MsgFieldMap& field_map)
{ {
@ -484,6 +511,7 @@ namespace pcl {
namespace io { namespace io {
/** Overload pcl::io::savePCDFile **/ /** Overload pcl::io::savePCDFile **/
inline int inline int
savePCDFile(const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, savePCDFile(const std::string &file_name, const sensor_msgs::PointCloud2 &cloud,
const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
@ -507,6 +535,7 @@ namespace pcl {
} }
/** Overload pcl::io::loadPCDFile **/ /** Overload pcl::io::loadPCDFile **/
inline int loadPCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud) inline int loadPCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
{ {
pcl::PCLPointCloud2 pcl_cloud; pcl::PCLPointCloud2 pcl_cloud;