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);
 
}