point_cloud.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#pragma once
 
#include <sensor_msgs/PointCloud.h>
 
#include <mrpt/version.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/maps/CColouredPointsMap.h>
 
namespace mrpt_bridge
{
namespace point_cloud
{
bool ros2mrpt(
        const sensor_msgs::PointCloud& msg, mrpt::maps::CSimplePointsMap& obj);
 
bool mrpt2ros(
        const mrpt::maps::CSimplePointsMap& obj, const std_msgs::Header& msg_header,
        sensor_msgs::PointCloud& msg);
}  // namespace point_cloud
 
}  // namespace mrpt_bridge