point_cloud.h

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#ifndef MRPT_BRIDGE_POINT_CLOUD_H
#define MRPT_BRIDGE_POINT_CLOUD_H

#include <sensor_msgs/PointCloud.h>

#include <mrpt/version.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/maps/CColouredPointsMap.h>
using namespace mrpt::maps;

namespace mrpt_bridge
{
namespace point_cloud
{
bool ros2mrpt(const sensor_msgs::PointCloud& msg, CSimplePointsMap& obj);

bool mrpt2ros(
        const CSimplePointsMap& obj, const std_msgs::Header& msg_header,
        sensor_msgs::PointCloud& msg);
}  // end of PointCloud

}  // namespace mrpt_bridge

#endif  // MRPT_BRIDGE_POINT_CLOUD_H