point_cloud.h

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#ifndef MRPT_BRIDGE_POINT_CLOUD_H
#define MRPT_BRIDGE_POINT_CLOUD_H

#include <sensor_msgs/PointCloud.h>
#include <mrpt/slam/CSimplePointsMap.h>
#include <mrpt/slam/CColouredPointsMap.h>

namespace mrpt_bridge {

namespace point_cloud
{
        bool ros2mrpt(
                const sensor_msgs::PointCloud &msg,
                mrpt::slam::CSimplePointsMap  &obj
                );

        bool mrpt2ros(
                const mrpt::slam::CSimplePointsMap  &obj,
                const std_msgs::Header &msg_header,
                sensor_msgs::PointCloud &msg
                );
}; // end of PointCloud
} //namespace mrpt_bridge

#endif //MRPT_BRIDGE_POINT_CLOUD_H