Function cras::transformWithChannels(const ::sensor_msgs::PointCloud2&, ::sensor_msgs::PointCloud2&, const ::geometry_msgs::TransformStamped&)

Defined in File tf2_sensor_msgs.h

Function Documentation

::sensor_msgs::PointCloud2 &cras::transformWithChannels(const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf)

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).
tf – [in] The transform to apply.

Returns:

out.