Function cras::transformWithChannels(const ::sensor_msgs::PointCloud2&, ::sensor_msgs::PointCloud2&, const ::geometry_msgs::TransformStamped&, const ::std::unordered_map<::std::string, ::cras::CloudChannelType>&)

Function Documentation

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

Copy in cloud to out and transform channels using the given transform. Only the channels passed in channels will be transformed, according to their type.

Parameters:

  • in – [in] The input cloud.

  • out – [out] The output cloud (can 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.

Returns:

out.