pcl_ros: transforms.h Source File

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00036 
00037 #ifndef PCL_ROS_TRANSFORMS_H_
00038 #define PCL_ROS_TRANSFORMS_H_
00039 
00040 #include <sensor_msgs/PointCloud2.h>
00041 #include <pcl/registration/transforms.h>
00042 #include <tf/transform_datatypes.h>
00043 #include <tf/transform_listener.h>
00044 
00045 namespace pcl_ros
00046 {
00053   template <typename PointT> void 
00054   transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in, 
00055                                   pcl::PointCloud <PointT> &cloud_out, 
00056                                   const tf::Transform &transform);
00057 
00064   template <typename PointT> bool 
00065   transformPointCloudWithNormals (const std::string &target_frame, 
00066                                   const pcl::PointCloud <PointT> &cloud_in, 
00067                                   pcl::PointCloud <PointT> &cloud_out, 
00068                                   const tf::TransformListener &tf_listener);
00069 
00078    template <typename PointT> bool 
00079    transformPointCloudWithNormals (const std::string &target_frame, 
00080                                    const ros::Time & target_time, 
00081                                    const pcl::PointCloud <PointT> &cloud_in, 
00082                                    const std::string &fixed_frame, 
00083                                    pcl::PointCloud <PointT> &cloud_out, 
00084                                    const tf::TransformListener &tf_listener);
00085 
00092   template <typename PointT> void 
00093   transformPointCloud (const pcl::PointCloud <PointT> &cloud_in, 
00094                        pcl::PointCloud <PointT> &cloud_out, 
00095                        const tf::Transform &transform);
00096 
00103   template <typename PointT> bool 
00104   transformPointCloud (const std::string &target_frame, 
00105                        const pcl::PointCloud <PointT> &cloud_in, 
00106                        pcl::PointCloud <PointT> &cloud_out, 
00107                        const tf::TransformListener &tf_listener);
00108 
00117   template <typename PointT> bool 
00118   transformPointCloud (const std::string &target_frame, const ros::Time & target_time, 
00119                        const pcl::PointCloud <PointT> &cloud_in, 
00120                        const std::string &fixed_frame, 
00121                        pcl::PointCloud <PointT> &cloud_out, 
00122                        const tf::TransformListener &tf_listener);
00123 
00130   bool 
00131   transformPointCloud (const std::string &target_frame, 
00132                        const sensor_msgs::PointCloud2 &in, 
00133                        sensor_msgs::PointCloud2 &out, 
00134                        const tf::TransformListener &tf_listener);
00135 
00142   void 
00143   transformPointCloud (const std::string &target_frame, 
00144                        const tf::Transform &net_transform, 
00145                        const sensor_msgs::PointCloud2 &in, 
00146                        sensor_msgs::PointCloud2 &out);
00147 
00153   void 
00154   transformPointCloud (const Eigen::Matrix4f &transform, 
00155                        const sensor_msgs::PointCloud2 &in, 
00156                        sensor_msgs::PointCloud2 &out);
00157 
00162   void 
00163   transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat);
00164 }
00165 
00166 #endif // PCL_ROS_TRANSFORMS_H_
00167