pcl_conversions_indigo.h
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35 
36 #ifndef INDIGO_PCL_CONVERSIONS_H__
37 #define INDIGO_PCL_CONVERSIONS_H__
38 
39 #include <vector>
40 
41 #include <ros/ros.h>
42 
43 #include <pcl/conversions.h>
44 
45 #include <pcl/PCLHeader.h>
46 #include <std_msgs/Header.h>
47 
48 #include <pcl/PCLImage.h>
49 #include <sensor_msgs/Image.h>
50 
51 #include <pcl/PCLPointField.h>
52 #include <sensor_msgs/PointField.h>
53 
54 #include <pcl/PCLPointCloud2.h>
55 #include <sensor_msgs/PointCloud2.h>
56 
57 #include <pcl/PointIndices.h>
58 #include <pcl_msgs/PointIndices.h>
59 
60 #include <pcl/ModelCoefficients.h>
61 #include <pcl_msgs/ModelCoefficients.h>
62 
63 #include <pcl/Vertices.h>
64 #include <pcl_msgs/Vertices.h>
65 
66 #include <pcl/PolygonMesh.h>
67 #include <pcl_msgs/PolygonMesh.h>
68 
69 #include <pcl/io/pcd_io.h>
70 
71 #include <Eigen/StdVector>
72 #include <Eigen/Geometry>
73 
74 namespace pcl_conversions {
75 
78  inline
79  void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
80  {
81  stamp.fromNSec(pcl_stamp * 1e3); // Convert from us to ns
82  }
83 
84  inline
85  void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
86  {
87  pcl_stamp = stamp.toNSec() / 1e3; // Convert from ns to us
88  }
89 
90  inline
91  ros::Time fromPCL(const pcl::uint64_t &pcl_stamp)
92  {
93  ros::Time stamp;
94  fromPCL(pcl_stamp, stamp);
95  return stamp;
96  }
97 
98  inline
99  pcl::uint64_t toPCL(const ros::Time &stamp)
100  {
101  pcl::uint64_t pcl_stamp;
102  toPCL(stamp, pcl_stamp);
103  return pcl_stamp;
104  }
105 
108  //inline
109  //void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
110  //{
111  //fromPCL(pcl_header.stamp, header.stamp);
112  //header.seq = pcl_header.seq;
113  //header.frame_id = pcl_header.frame_id;
114  //}
115 
116  //inline
117  //void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
118  //{
119  //toPCL(header.stamp, pcl_header.stamp);
120  //pcl_header.seq = header.seq;
121  //pcl_header.frame_id = header.frame_id;
122  //}
123 
124  //inline
125  //std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
126  //{
127  //std_msgs::Header header;
128  //fromPCL(pcl_header, header);
129  //return header;
130  //}
131 
132  //inline
133  //pcl::PCLHeader toPCL(const std_msgs::Header &header)
134  //{
135  //pcl::PCLHeader pcl_header;
136  //toPCL(header, pcl_header);
137  //return pcl_header;
138  //}
139 
140 }
141 
142 #endif
Time & fromNSec(uint64_t t)
void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
uint64_t toNSec() const
void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)


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Author(s): Roberto Martín-Martín
autogenerated on Mon Jun 10 2019 14:06:11