Function mrpt::ros2bridge::pointCloud2ToObservation

• Defined in File ros_to_mrpt_obs.h

Function Documentation

mrpt::obs::CObservationPointCloud::Ptr mrpt::ros2bridge::pointCloud2ToObservation(const sensor_msgs::msg::PointCloud2 &pts, const std::string &sensorLabel)

Convert a PointCloud2 message to CObservationPointCloud.

• Picks the richest available point-map type (CGenericPointsMap > CPointsMapXYZIRT > CPointsMapXYZI > CSimplePointsMap)

• Applies fixLivoxTimestampsIfNeeded() automatically.

• The caller is responsible for filling sensorPose afterwards.

Returns:

nullptr if the point cloud lacks x/y/z fields.