Function ros2_ouster::toCloud

• Defined in File conversions.hpp

Function Documentation

static void ros2_ouster::toCloud(const ouster::XYZLut &xyz_lut, ouster::LidarScan::ts_t scan_ts, const ouster::LidarScan &ls, pcl::PointCloud<ouster_ros::Point> &cloud)

Populate a PCL point cloud from a LidarScan

Parameters:

• xyz_lut – lookup table from sensor beam angles (see lidar_scan.h)

• scan_ts – scan start used to caluclate relative timestamps for points

• ls – input lidar data

• cloud – output pcl pointcloud to populate