tf2_sensor_msgs.h

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#pragma once

#include <string>
#include <unordered_map>

#include <geometry_msgs/Transform.h>
#include <geometry_msgs/TransformStamped.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf2_ros/buffer.h>

namespace cras
{

enum class CloudChannelType
{
  POINT,

  DIRECTION,

  SCALAR
};

void registerCloudChannelType(const ::std::string& channelPrefix, ::cras::CloudChannelType type);

void unregisterCloudChannelType(const ::std::string& channelPrefix);

void transformChannel(::sensor_msgs::PointCloud2& cloud, const ::geometry_msgs::Transform& transform,
  const ::std::string& channelPrefix, ::cras::CloudChannelType type);

::sensor_msgs::PointCloud2& transformWithChannels(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::geometry_msgs::TransformStamped& tf);

::sensor_msgs::PointCloud2& transformWithChannels(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::geometry_msgs::TransformStamped& tf,
  const ::std::unordered_map<::std::string, ::cras::CloudChannelType>& channels);

::sensor_msgs::PointCloud2& transformWithChannels(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::tf2_ros::Buffer& tfBuffer, const ::std::string& targetFrame);

::sensor_msgs::PointCloud2& transformWithChannels(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::tf2_ros::Buffer& tfBuffer, const ::std::string& targetFrame,
  const ::std::unordered_map<::std::string, ::cras::CloudChannelType>& channels);

::sensor_msgs::PointCloud2& transformOnlyChannels(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::geometry_msgs::TransformStamped& tf,
  const ::std::unordered_map<::std::string, ::cras::CloudChannelType>& channels);

::sensor_msgs::PointCloud2& transformOnlyXYZ(const ::sensor_msgs::PointCloud2& in, ::sensor_msgs::PointCloud2& out,
  const ::geometry_msgs::TransformStamped& tf);

}