Port transforms library to ROS2 (#301)
* Port transforms library to ROS2 - Port the transforms library to ROS2 - Update CMakeLists - Update package.xml - Enable the package Signed-off-by: Sean Kelly <sean@seankelly.dev> * Feedback from PR
This commit is contained in:
Sean Kelly
GitHub
+166
-84
@@ -34,22 +34,34 @@
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*
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*/
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/common/io.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <limits>
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#include <string>
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#include "pcl_ros/transforms.hpp"
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#include "pcl_ros/impl/transforms.hpp"
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#include <pcl/common/transforms.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <tf2/convert.h>
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#include <tf2/exceptions.h>
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#include <tf2/LinearMath/Transform.h>
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#include <tf2/LinearMath/Vector3.h>
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#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
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#include <tf2_ros/buffer.h>
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#include <tf2_ros/transform_listener.h>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <geometry_msgs/msg/transform_stamped.hpp>
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#include <rclcpp/logging.hpp>
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#include <rclcpp/time.hpp>
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#include <Eigen/Dense>
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#include <cmath>
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#include <limits>
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#include <string>
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namespace pcl_ros
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{
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool
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transformPointCloud(
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const std::string & target_frame, const sensor_msgs::PointCloud2 & in,
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sensor_msgs::PointCloud2 & out, const tf::TransformListener & tf_listener)
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const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & in,
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sensor_msgs::msg::PointCloud2 & out, const tf2_ros::Buffer & tf_buffer)
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{
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if (in.header.frame_id == target_frame) {
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out = in;
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@@ -57,14 +69,17 @@ transformPointCloud(
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}
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// Get the TF transform
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tf::StampedTransform transform;
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geometry_msgs::msg::TransformStamped transform;
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try {
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tf_listener.lookupTransform(target_frame, in.header.frame_id, in.header.stamp, transform);
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} catch (tf::LookupException & e) {
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ROS_ERROR("%s", e.what());
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transform =
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tf_buffer.lookupTransform(
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target_frame, in.header.frame_id, tf2_ros::fromMsg(
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in.header.stamp));
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} catch (tf2::LookupException & e) {
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RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
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return false;
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} catch (tf::ExtrapolationException & e) {
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ROS_ERROR("%s", e.what());
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} catch (tf2::ExtrapolationException & e) {
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RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
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return false;
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}
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@@ -81,8 +96,8 @@ transformPointCloud(
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformPointCloud(
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const std::string & target_frame, const tf::Transform & net_transform,
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const sensor_msgs::PointCloud2 & in, sensor_msgs::PointCloud2 & out)
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const std::string & target_frame, const tf2::Transform & net_transform,
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const sensor_msgs::msg::PointCloud2 & in, sensor_msgs::msg::PointCloud2 & out)
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{
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if (in.header.frame_id == target_frame) {
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out = in;
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@@ -98,11 +113,21 @@ transformPointCloud(
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out.header.frame_id = target_frame;
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}
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void
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transformPointCloud(
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const std::string & target_frame, const geometry_msgs::msg::TransformStamped & net_transform,
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const sensor_msgs::msg::PointCloud2 & in, sensor_msgs::msg::PointCloud2 & out)
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{
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tf2::Transform transform;
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tf2::convert(net_transform.transform, transform);
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transformPointCloud(target_frame, transform, in, out);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformPointCloud(
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const Eigen::Matrix4f & transform, const sensor_msgs::PointCloud2 & in,
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sensor_msgs::PointCloud2 & out)
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const Eigen::Matrix4f & transform, const sensor_msgs::msg::PointCloud2 & in,
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sensor_msgs::msg::PointCloud2 & out)
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{
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// Get X-Y-Z indices
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int x_idx = pcl::getFieldIndex(in, "x");
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@@ -110,15 +135,19 @@ transformPointCloud(
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int z_idx = pcl::getFieldIndex(in, "z");
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if (x_idx == -1 || y_idx == -1 || z_idx == -1) {
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ROS_ERROR("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
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RCLCPP_ERROR(
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rclcpp::get_logger("pcl_ros"),
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"Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
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return;
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}
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if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
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in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
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in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
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if (in.fields[x_idx].datatype != sensor_msgs::msg::PointField::FLOAT32 ||
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in.fields[y_idx].datatype != sensor_msgs::msg::PointField::FLOAT32 ||
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in.fields[z_idx].datatype != sensor_msgs::msg::PointField::FLOAT32)
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{
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ROS_ERROR("X-Y-Z coordinates not floats. Currently only floats are supported.");
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RCLCPP_ERROR(
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rclcpp::get_logger("pcl_ros"),
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"X-Y-Z coordinates not floats. Currently only floats are supported.");
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return;
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}
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@@ -144,15 +173,15 @@ transformPointCloud(
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in.fields[z_idx].offset, 0);
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for (size_t i = 0; i < in.width * in.height; ++i) {
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Eigen::Vector4f pt(*reinterpret_cast<float *>(&in.data[xyz_offset[0]]),
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*reinterpret_cast<float *>(&in.data[xyz_offset[1]]),
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*reinterpret_cast<float *>(&in.data[xyz_offset[2]], 1));
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Eigen::Vector4f pt(*reinterpret_cast<const float *>(&in.data[xyz_offset[0]]),
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*reinterpret_cast<const float *>(&in.data[xyz_offset[1]]),
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*reinterpret_cast<const float *>(&in.data[xyz_offset[2]]), 1);
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Eigen::Vector4f pt_out;
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bool max_range_point = false;
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int distance_ptr_offset = i * in.point_step + in.fields[dist_idx].offset;
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float * distance_ptr =
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(dist_idx < 0 ? NULL : reinterpret_cast<float *>(&in.data[distance_ptr_offset]));
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const float * distance_ptr = (dist_idx < 0 ?
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NULL : reinterpret_cast<const float *>(&in.data[distance_ptr_offset]));
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if (!std::isfinite(pt[0]) || !std::isfinite(pt[1]) || !std::isfinite(pt[2])) {
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if (distance_ptr == NULL || !std::isfinite(*distance_ptr)) { // Invalid point
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pt_out = pt;
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@@ -160,8 +189,6 @@ transformPointCloud(
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pt[0] = *distance_ptr; // Replace x with the x value saved in distance
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pt_out = transform * pt;
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max_range_point = true;
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// std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<",
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// "<<pt_out[1]<<","<<pt_out[2]<<"\n";
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}
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} else {
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pt_out = transform * pt;
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@@ -201,12 +228,12 @@ transformPointCloud(
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//////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat)
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transformAsMatrix(const tf2::Transform & bt, Eigen::Matrix4f & out_mat)
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{
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double mv[12];
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bt.getBasis().getOpenGLSubMatrix(mv);
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tf::Vector3 origin = bt.getOrigin();
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tf2::Vector3 origin = bt.getOrigin();
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out_mat(0, 0) = mv[0]; out_mat(0, 1) = mv[4]; out_mat(0, 2) = mv[8];
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out_mat(1, 0) = mv[1]; out_mat(1, 1) = mv[5]; out_mat(1, 2) = mv[9];
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@@ -218,176 +245,231 @@ transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat)
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out_mat(2, 3) = origin.z();
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}
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void
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transformAsMatrix(const geometry_msgs::msg::TransformStamped & bt, Eigen::Matrix4f & out_mat)
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{
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tf2::Transform transform;
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tf2::convert(bt.transform, transform);
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transformAsMatrix(transform, out_mat);
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}
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} // namespace pcl_ros
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
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const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
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const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
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const geometry_msgs::msg::TransformStamped &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
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const std::string &,
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
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const std::string &,
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const ros::Time &,
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const rclcpp::Time &,
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const pcl::PointCloud<pcl::PointNormal> &, const std::string &,
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pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
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pcl::PointCloud<pcl::PointNormal> &, const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
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const std::string &,
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const ros::Time &,
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const rclcpp::Time &,
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &,
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pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
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pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
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const std::string &,
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const ros::Time &,
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const rclcpp::Time &,
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const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &,
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pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
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pcl::PointCloud<pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloud<pcl::PointXYZ>(
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const pcl::PointCloud<pcl::PointXYZ> &,
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pcl::PointCloud<pcl::PointXYZ> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZI>(
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const pcl::PointCloud<pcl::PointXYZI> &,
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pcl::PointCloud<pcl::PointXYZI> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
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const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
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const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::InterestPoint>(
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const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointNormal>(
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
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const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointWithRange>(
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const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
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const tf::Transform &);
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const tf2::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
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const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
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const tf::Transform &);
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const tf2::Transform &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloud<pcl::PointXYZ>(
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const pcl::PointCloud<pcl::PointXYZ> &,
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pcl::PointCloud<pcl::PointXYZ> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZI>(
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const pcl::PointCloud<pcl::PointXYZI> &,
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pcl::PointCloud<pcl::PointXYZI> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
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const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
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const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::InterestPoint>(
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const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointNormal>(
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
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const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
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const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointWithRange>(
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const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
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const geometry_msgs::msg::TransformStamped &);
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template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
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const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
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const geometry_msgs::msg::TransformStamped &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloud<pcl::PointXYZ>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZ> &,
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pcl::PointCloud<pcl::PointXYZ> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZI>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZI> &,
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pcl::PointCloud<pcl::PointXYZI> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
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const std::string &,
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const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloud<pcl::InterestPoint>(
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const std::string &,
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const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
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template bool pcl_ros::transformPointCloud<pcl::PointNormal>(
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const std::string &,
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const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
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const tf::TransformListener &);
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const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZ>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &, const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZI>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBA> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGBA> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGBA> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGB> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGB> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGB> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::InterestPoint>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::InterestPoint> &, const std::string &,
|
||||
pcl::PointCloud<pcl::InterestPoint> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::InterestPoint> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointNormal>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointWithRange> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointWithRange> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointWithViewpoint> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointWithViewpoint> &, const tf2_ros::Buffer &);
|
||||
|
||||
Reference in New Issue
Block a user