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00037 #ifndef pcl_ROS_TRANSFORMS_H_
00038 #define pcl_ROS_TRANSFORMS_H_
00039
00040 #include <sensor_msgs/PointCloud2.h>
00041 #include <pcl/common/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