Function pcl_ros::transformPointCloud(const std::string&, const tf2::Transform&, const sensor_msgs::msg::PointCloud2&, sensor_msgs::msg::PointCloud2&)

Function Documentation

void pcl_ros::transformPointCloud(const std::string &target_frame, const tf2::Transform &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