transforms.h

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#ifndef pcl_ROS_TRANSFORMS_H_
#define pcl_ROS_TRANSFORMS_H_

#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/transforms.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

namespace pcl_ros
{
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in, 
                                  pcl::PointCloud <PointT> &cloud_out, 
                                  const tf::Transform &transform);

  template <typename PointT> bool 
  transformPointCloudWithNormals (const std::string &target_frame, 
                                  const pcl::PointCloud <PointT> &cloud_in, 
                                  pcl::PointCloud <PointT> &cloud_out, 
                                  const tf::TransformListener &tf_listener);

   template <typename PointT> bool 
   transformPointCloudWithNormals (const std::string &target_frame, 
                                   const ros::Time & target_time, 
                                   const pcl::PointCloud <PointT> &cloud_in, 
                                   const std::string &fixed_frame, 
                                   pcl::PointCloud <PointT> &cloud_out, 
                                   const tf::TransformListener &tf_listener);

  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud <PointT> &cloud_in, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::Transform &transform);

  template <typename PointT> bool 
  transformPointCloud (const std::string &target_frame, 
                       const pcl::PointCloud <PointT> &cloud_in, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::TransformListener &tf_listener);

  template <typename PointT> bool 
  transformPointCloud (const std::string &target_frame, const ros::Time & target_time, 
                       const pcl::PointCloud <PointT> &cloud_in, 
                       const std::string &fixed_frame, 
                       pcl::PointCloud <PointT> &cloud_out, 
                       const tf::TransformListener &tf_listener);

  bool 
  transformPointCloud (const std::string &target_frame, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out, 
                       const tf::TransformListener &tf_listener);

  void 
  transformPointCloud (const std::string &target_frame, 
                       const tf::Transform &net_transform, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out);

  void 
  transformPointCloud (const Eigen::Matrix4f &transform, 
                       const sensor_msgs::PointCloud2 &in, 
                       sensor_msgs::PointCloud2 &out);

  void 
  transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat);
}

#endif // PCL_ROS_TRANSFORMS_H_