point_cloud.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "mrpt_bridge/point_cloud.h"
#include <ros/console.h>
 
using namespace mrpt::maps;
 
namespace mrpt_bridge
{
bool point_cloud::ros2mrpt(
        const sensor_msgs::PointCloud& msg, CSimplePointsMap& obj)
{
        const size_t N = msg.points.size();
 
        obj.clear();
        obj.reserve(N);
        for (size_t i = 0; i < N; i++)
                obj.insertPoint(msg.points[i].x, msg.points[i].y, msg.points[i].z);
 
        return true;
}
 
bool point_cloud::mrpt2ros(
        const CSimplePointsMap& obj, const std_msgs::Header& msg_header,
        sensor_msgs::PointCloud& msg)
{
        // 1) sensor_msgs::PointCloud:: header
        msg.header = msg_header;
 
        // 2) sensor_msgs::PointCloud:: points
        const size_t N = obj.size();
        msg.points.resize(N);
        for (size_t i = 0; i < N; i++)
        {
                geometry_msgs::Point32& pt = msg.points[i];
                obj.getPoint(i, pt.x, pt.y, pt.z);
        }
 
        // 3) sensor_msgs::PointCloud:: channels
        msg.channels.clear();
 
        return true;
}
 
}  // namespace mrpt_bridge