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

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)

Copy in cloud to out and transform channels using the given transform. The list of channels to be transformed consists of the XYZ channel, vp_, normal_ and all channels registered by registerCloudChannelType().

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.

Throws:

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

Returns:

out.