Function pcl_ros::transformPointCloud(const std::string&, const geometry_msgs::msg::TransformStamped&, const sensor_msgs::msg::PointCloud2&, sensor_msgs::msg::PointCloud2&)

• Defined in File transforms.hpp

Function Documentation

void pcl_ros::transformPointCloud(const std::string &target_frame, const geometry_msgs::msg::TransformStamped &net_transform, const sensor_msgs::msg::PointCloud2 &in, sensor_msgs::msg::PointCloud2 &out)

Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.

Parameters:

• target_frame – the target TF frame

• net_transform – the TF transformer object

• in – the input PointCloud2 dataset

• out – the resultant transformed PointCloud2 dataset