Function cras::transformOnlyChannels

• Defined in File tf2_sensor_msgs.h

Function Documentation

::sensor_msgs::PointCloud2 &cras::transformOnlyChannels(const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf, const ::std::unordered_map<::std::string, ::cras::CloudChannelType> &channels)

Copy the selected channels from in cloud to out and transform them using the given transform.

Parameters:

• in – [in] The input cloud.

• out – [out] The output cloud (can not be the same as input).

• tf – [in] The transform to apply.

• channels – [in] A map of channel prefix-channel type of channels that should be transformed. No other channels will be present in the output cloud.

Returns:

out.