Function cras::transformWithChannels(const ::sensor_msgs::PointCloud2&, ::sensor_msgs::PointCloud2&, const ::tf2_ros::Buffer&, const ::std::string&, 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 ::tf2_ros::Buffer &tfBuffer, const ::std::string &targetFrame, 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).

  • tfBuffer – [in] The TF buffer.

  • targetFrame – [in] The frame to transform to.

  • channels – [in] A map of channel prefix-channel type of channels that should be transformed.

Throws:

tf2::TransformException – No exceptions thrown from lookupTransform() will be catched.

Returns:

out.