transforms.cpp
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  *
35  */
36 
37 #include <sensor_msgs/PointCloud2.h>
38 #include <tf2_eigen/tf2_eigen.h>
39 #include <pcl_conversions/pcl_conversions.h>
40 #include "pcl_ros/transforms.h"
41 #include "pcl_ros/impl/transforms.hpp"
42 
43 namespace pcl_ros
44 {
46 bool
47 transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in,
48  sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
49 {
50  if (in.header.frame_id == target_frame)
51  {
52  out = in;
53  return (true);
54  }
55 
56  // Get the TF transform
57  tf::StampedTransform transform;
58  try
59  {
60  tf_listener.waitForTransform (target_frame, in.header.frame_id, in.header.stamp, ros::Duration(1));
61  tf_listener.lookupTransform (target_frame, in.header.frame_id, in.header.stamp, transform);
62  }
63  catch (const tf::TransformException &e)
64  {
65  ROS_ERROR ("%s", e.what ());
66  return (false);
67  }
68 
69  // Convert the TF transform to Eigen format
70  Eigen::Matrix4f eigen_transform;
71  transformAsMatrix (transform, eigen_transform);
72 
73  transformPointCloud (eigen_transform, in, out);
74 
75  out.header.frame_id = target_frame;
76  return (true);
77 }
78 
80 bool
81 transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in,
82  sensor_msgs::PointCloud2 &out, const tf2_ros::Buffer &tf_buffer)
83 {
84  if (in.header.frame_id == target_frame)
85  {
86  out = in;
87  return (true);
88  }
89 
90  // Get the TF transform
91  geometry_msgs::TransformStamped transform;
92  try
93  {
94  transform = tf_buffer.lookupTransform (target_frame, in.header.frame_id, in.header.stamp);
95  }
96  catch (tf2::LookupException &e)
97  {
98  ROS_ERROR ("%s", e.what ());
99  return (false);
100  }
101  catch (tf2::ExtrapolationException &e)
102  {
103  ROS_ERROR ("%s", e.what ());
104  return (false);
105  }
106 
107  transformPointCloud (target_frame, transform.transform, in, out);
108  return (true);
109 }
110 
112 void
113 transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform,
114  const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
115 {
116  if (in.header.frame_id == target_frame)
117  {
118  out = in;
119  return;
120  }
121 
122  // Get the transformation
123  Eigen::Matrix4f transform;
124  transformAsMatrix (net_transform, transform);
125 
126  transformPointCloud (transform, in, out);
127 
128  out.header.frame_id = target_frame;
129 }
130 
132 void
133 transformPointCloud (const std::string &target_frame, const geometry_msgs::Transform &net_transform,
134  const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
135 {
136  if (in.header.frame_id == target_frame)
137  {
138  out = in;
139  return;
140  }
141 
142  // Get the transformation
143  Eigen::Matrix4f transform;
144  transformAsMatrix (net_transform, transform);
145 
146  transformPointCloud (transform, in, out);
147 
148  out.header.frame_id = target_frame;
149 }
150 
152 void
153 transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in,
154  sensor_msgs::PointCloud2 &out)
155 {
156  // Get X-Y-Z indices
157  int x_idx = pcl::getFieldIndex (in, "x");
158  int y_idx = pcl::getFieldIndex (in, "y");
159  int z_idx = pcl::getFieldIndex (in, "z");
160 
161  if (x_idx == -1 || y_idx == -1 || z_idx == -1)
162  {
163  ROS_ERROR ("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
164  return;
165  }
166 
167  if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
168  in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
169  in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
170  {
171  ROS_ERROR ("X-Y-Z coordinates not floats. Currently only floats are supported.");
172  return;
173  }
174 
175  // Check if distance is available
176  int dist_idx = pcl::getFieldIndex (in, "distance");
177 
178  // Copy the other data
179  if (&in != &out)
180  {
181  out.header = in.header;
182  out.height = in.height;
183  out.width = in.width;
184  out.fields = in.fields;
185  out.is_bigendian = in.is_bigendian;
186  out.point_step = in.point_step;
187  out.row_step = in.row_step;
188  out.is_dense = in.is_dense;
189  out.data.resize (in.data.size ());
190  // Copy everything as it's faster than copying individual elements
191  memcpy (out.data.data (), in.data.data (), in.data.size ());
192  }
193 
194  Eigen::Array4i xyz_offset (in.fields[x_idx].offset, in.fields[y_idx].offset, in.fields[z_idx].offset, 0);
195 
196  for (size_t i = 0; i < in.width * in.height; ++i)
197  {
198  Eigen::Vector4f pt (*(float*)&in.data[xyz_offset[0]], *(float*)&in.data[xyz_offset[1]], *(float*)&in.data[xyz_offset[2]], 1);
199  Eigen::Vector4f pt_out;
200 
201  bool max_range_point = false;
202  int distance_ptr_offset = (dist_idx < 0 ? -1 : (i*in.point_step + in.fields[dist_idx].offset)); // If dist_idx is negative, it must not be used as an index
203  float* distance_ptr = (dist_idx < 0 ? NULL : (float*)(&in.data[distance_ptr_offset]));
204  if (!std::isfinite (pt[0]) || !std::isfinite (pt[1]) || !std::isfinite (pt[2]))
205  {
206  if (distance_ptr==NULL || !std::isfinite(*distance_ptr)) // Invalid point
207  {
208  pt_out = pt;
209  }
210  else // max range point
211  {
212  pt[0] = *distance_ptr; // Replace x with the x value saved in distance
213  pt_out = transform * pt;
214  max_range_point = true;
215  //std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<","<<pt_out[1]<<","<<pt_out[2]<<"\n";
216  }
217  }
218  else
219  {
220  pt_out = transform * pt;
221  }
222 
223  if (max_range_point)
224  {
225  // Save x value in distance again
226  *(float*)(&out.data[distance_ptr_offset]) = pt_out[0];
227  pt_out[0] = std::numeric_limits<float>::quiet_NaN();
228  }
229 
230  memcpy (&out.data[xyz_offset[0]], &pt_out[0], sizeof (float));
231  memcpy (&out.data[xyz_offset[1]], &pt_out[1], sizeof (float));
232  memcpy (&out.data[xyz_offset[2]], &pt_out[2], sizeof (float));
233 
234 
235  xyz_offset += in.point_step;
236  }
237 
238  // Check if the viewpoint information is present
239  int vp_idx = pcl::getFieldIndex (in, "vp_x");
240  if (vp_idx != -1)
241  {
242  // Transform the viewpoint info too
243  for (size_t i = 0; i < out.width * out.height; ++i)
244  {
245  float *pstep = (float*)&out.data[i * out.point_step + out.fields[vp_idx].offset];
246  // Assume vp_x, vp_y, vp_z are consecutive
247  Eigen::Vector4f vp_in (pstep[0], pstep[1], pstep[2], 1);
248  Eigen::Vector4f vp_out = transform * vp_in;
249 
250  pstep[0] = vp_out[0];
251  pstep[1] = vp_out[1];
252  pstep[2] = vp_out[2];
253  }
254  }
255 }
256 
258 void
259 transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat)
260 {
261  double mv[12];
262  bt.getBasis ().getOpenGLSubMatrix (mv);
263 
264  tf::Vector3 origin = bt.getOrigin ();
265 
266  out_mat (0, 0) = mv[0]; out_mat (0, 1) = mv[4]; out_mat (0, 2) = mv[8];
267  out_mat (1, 0) = mv[1]; out_mat (1, 1) = mv[5]; out_mat (1, 2) = mv[9];
268  out_mat (2, 0) = mv[2]; out_mat (2, 1) = mv[6]; out_mat (2, 2) = mv[10];
269 
270  out_mat (3, 0) = out_mat (3, 1) = out_mat (3, 2) = 0; out_mat (3, 3) = 1;
271  out_mat (0, 3) = origin.x ();
272  out_mat (1, 3) = origin.y ();
273  out_mat (2, 3) = origin.z ();
274 }
275 
277 void
278 transformAsMatrix (const geometry_msgs::Transform& bt, Eigen::Matrix4f &out_mat)
279 {
280  out_mat = tf2::transformToEigen(bt).matrix().cast<float>();
281 }
282 
283 } // namespace pcl_ros
284 
286 template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
287 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
288 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
289 
291 template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const geometry_msgs::Transform &);
292 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const geometry_msgs::Transform &);
293 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const geometry_msgs::Transform &);
294 
296 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
297 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
298 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
300 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &, const tf2_ros::Buffer &);
301 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
302 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
303 
305 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
306 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
307 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
308 
310 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf2_ros::Buffer &);
311 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
312 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
313 
315 template void pcl_ros::transformPointCloud<pcl::PointXYZ> (const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::Transform &);
316 template void pcl_ros::transformPointCloud<pcl::PointXYZI> (const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::Transform &);
317 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::Transform &);
318 template void pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::Transform &);
319 template void pcl_ros::transformPointCloud<pcl::InterestPoint> (const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::Transform &);
320 template void pcl_ros::transformPointCloud<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
321 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
322 template void pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
323 template void pcl_ros::transformPointCloud<pcl::PointWithRange> (const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::Transform &);
324 template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::Transform &);
325 
327 template void pcl_ros::transformPointCloud<pcl::PointXYZ> (const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const geometry_msgs::Transform &);
328 template void pcl_ros::transformPointCloud<pcl::PointXYZI> (const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const geometry_msgs::Transform &);
329 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const geometry_msgs::Transform &);
330 template void pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const geometry_msgs::Transform &);
331 template void pcl_ros::transformPointCloud<pcl::InterestPoint> (const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const geometry_msgs::Transform &);
332 template void pcl_ros::transformPointCloud<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const geometry_msgs::Transform &);
333 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const geometry_msgs::Transform &);
334 template void pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const geometry_msgs::Transform &);
335 template void pcl_ros::transformPointCloud<pcl::PointWithRange> (const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const geometry_msgs::Transform &);
336 template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const geometry_msgs::Transform &);
337 
339 template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
340 template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
341 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
342 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
343 template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
344 template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
345 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
346 template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
347 template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
348 template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
349 
351 template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf2_ros::Buffer &);
352 template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf2_ros::Buffer &);
353 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf2_ros::Buffer &);
354 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf2_ros::Buffer &);
355 template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf2_ros::Buffer &);
356 template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf2_ros::Buffer &);
357 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
358 template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
359 template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf2_ros::Buffer &);
360 template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf2_ros::Buffer &);
361 
363 template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZ> &, const std::string &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
364 template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZI> &, const std::string &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
365 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBA> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
366 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGB> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
367 template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::InterestPoint> &, const std::string &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
368 template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
369 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
370 template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
371 template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithRange> &, const std::string &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
372 template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithViewpoint> &, const std::string &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
373 
375 template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZ> &, const std::string &, pcl::PointCloud <pcl::PointXYZ> &, const tf2_ros::Buffer &);
376 template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZI> &, const std::string &, pcl::PointCloud <pcl::PointXYZI> &, const tf2_ros::Buffer &);
377 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBA> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf2_ros::Buffer &);
378 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGB> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf2_ros::Buffer &);
379 template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::InterestPoint> &, const std::string &, pcl::PointCloud <pcl::InterestPoint> &, const tf2_ros::Buffer &);
380 template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf2_ros::Buffer &);
381 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
382 template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
383 template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithRange> &, const std::string &, pcl::PointCloud <pcl::PointWithRange> &, const tf2_ros::Buffer &);
384 template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithViewpoint> &, const std::string &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf2_ros::Buffer &);
385 
tf::Transform::getBasis
TFSIMD_FORCE_INLINE Matrix3x3 & getBasis()
pcl_ros
Definition: boundary.h:46
pcl_ros::transformAsMatrix
void transformAsMatrix(const tf::Transform &bt, Eigen::Matrix4f &out_mat)
Obtain the transformation matrix from TF into an Eigen form.
Definition: transforms.cpp:259
tf::Transformer::waitForTransform
bool waitForTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
tf2_ros::Buffer
tf2_ros::Buffer::lookupTransform
virtual geometry_msgs::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const
pcl_conversions.h
tf2_eigen.h
tf::Transform::getOrigin
TFSIMD_FORCE_INLINE Vector3 & getOrigin()
tf::Transformer::lookupTransform
void lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
pcl_ros::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::Transform &transform)
Apply a rigid transform defined by a 3D offset and a quaternion.
Definition: transforms.hpp:85
tf::Matrix3x3::getOpenGLSubMatrix
void getOpenGLSubMatrix(tfScalar *m) const
ROS_ERROR
#define ROS_ERROR(...)
pcl::getFieldIndex
int getFieldIndex(const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
tf2::transformToEigen
Eigen::Isometry3d transformToEigen(const geometry_msgs::Transform &t)

pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Feb 16 2023 03:08:03