tf2_sensor_msgs.py
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00001 # Copyright (c) 2008, Willow Garage, Inc.
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00004 # Redistribution and use in source and binary forms, with or without
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00014 #       this software without specific prior written permission.
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00016 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00027 
00028 from sensor_msgs.msg import PointCloud2
00029 from sensor_msgs.point_cloud2 import read_points, create_cloud
00030 import PyKDL
00031 import rospy
00032 import tf2_ros
00033 
00034 def to_msg_msg(msg):
00035     return msg
00036 
00037 tf2_ros.ConvertRegistration().add_to_msg(PointCloud2, to_msg_msg)
00038 
00039 def from_msg_msg(msg):
00040     return msg
00041 
00042 tf2_ros.ConvertRegistration().add_from_msg(PointCloud2, from_msg_msg)
00043 
00044 def transform_to_kdl(t):
00045     return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y,
00046                                                  t.transform.rotation.z, t.transform.rotation.w),
00047                        PyKDL.Vector(t.transform.translation.x, 
00048                                     t.transform.translation.y, 
00049                                     t.transform.translation.z))
00050 
00051 # PointStamped
00052 def do_transform_cloud(cloud, transform):
00053     t_kdl = transform_to_kdl(transform)
00054     points_out = []
00055     for p_in in read_points(cloud):
00056         p_out = t_kdl * PyKDL.Vector(p_in[0], p_in[1], p_in[2])
00057         points_out.append((p_out[0], p_out[1], p_out[2]) + p_in[3:])
00058     res = create_cloud(transform.header, cloud.fields, points_out)
00059     return res
00060 tf2_ros.TransformRegistration().add(PointCloud2, do_transform_cloud)


tf2_sensor_msgs
Author(s): Vincent Rabaud
autogenerated on Thu Jun 6 2019 20:23:17