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Fixes from converting from pcl-1.7, incomplete

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This commit is contained in:
William Woodall
2013-07-08 16:36:28 -07:00
committed by Paul Bovbel
parent 9d08dd5198
commit a931106c5b
11 changed files with 54 additions and 29 deletions
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pcl_ros/include/pcl_ros/impl/transforms.hpp
+14 -6
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@@ -37,8 +37,12 @@
#ifndef pcl_ros_IMPL_TRANSFORMS_H_
#define pcl_ros_IMPL_TRANSFORMS_H_
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/transforms.h"
using pcl_conversions::fromPCL;
using pcl_conversions::toPCL;
namespace pcl_ros
{
//////////////////////////////////////////////////////////////////////////////////////////////
@@ -99,7 +103,7 @@ transformPointCloudWithNormals (const std::string &target_frame,
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
}
catch (tf::LookupException &e)
{
@@ -133,7 +137,7 @@ transformPointCloud (const std::string &target_frame,
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
}
catch (tf::LookupException &e)
{
@@ -162,7 +166,7 @@ transformPointCloud (const std::string &target_frame,
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
}
catch (tf::LookupException &e)
{
@@ -177,7 +181,9 @@ transformPointCloud (const std::string &target_frame,
transformPointCloud (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
cloud_out.header.stamp = target_time;
std_msgs::Header header;
header.stamp = target_time;
cloud_out.header = toPCL(header);
return (true);
}
@@ -193,7 +199,7 @@ transformPointCloudWithNormals (const std::string &target_frame,
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
}
catch (tf::LookupException &e)
{
@@ -208,7 +214,9 @@ transformPointCloudWithNormals (const std::string &target_frame,
transformPointCloudWithNormals (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
cloud_out.header.stamp = target_time;
std_msgs::Header header;
header.stamp = target_time;
cloud_out.header = toPCL(header);
return (true);
}