mrpt_bridge::point_cloud Namespace Reference

Functions
bool	mrpt2ros (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud &msg)
bool	ros2mrpt (const sensor_msgs::PointCloud &msg, mrpt::maps::CSimplePointsMap &obj)

Detailed Description

Methods to convert between ROS msgs and MRPT objects for point-cloud datatypes.

Function Documentation

mrpt2ros()

bool mrpt_bridge::point_cloud::mrpt2ros	(	const mrpt::maps::CSimplePointsMap &	obj,
		const std_msgs::Header &	msg_header,
		sensor_msgs::PointCloud &	msg
	)

Convert mrpt::maps::CSimplePointsMap -> sensor_msgs/PointCloud The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud::channels will be empty.

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

ros2mrpt()

bool mrpt_bridge::point_cloud::ros2mrpt	(	const sensor_msgs::PointCloud &	msg,
		mrpt::maps::CSimplePointsMap &	obj
	)

Convert sensor_msgs/PointCloud -> mrpt::maps::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud::channels are ignored.

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros