Program Listing for File transforms.hpp

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#ifndef PCL_ROS__TRANSFORMS_HPP_
#define PCL_ROS__TRANSFORMS_HPP_

#include <pcl/point_cloud.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <Eigen/Core>
#include <string>
#include <rclcpp/time.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>

namespace pcl_ros
{
template<typename PointT>
void
transformPointCloudWithNormals(
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2::Transform & transform);

template<typename PointT>
void
transformPointCloudWithNormals(
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const geometry_msgs::msg::TransformStamped & transform);

template<typename PointT>
bool
transformPointCloudWithNormals(
  const std::string & target_frame,
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2_ros::Buffer & tf_buffer);

template<typename PointT>
bool
transformPointCloudWithNormals(
  const std::string & target_frame,
  const rclcpp::Time & target_time,
  const pcl::PointCloud<PointT> & cloud_in,
  const std::string & fixed_frame,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2_ros::Buffer & tf_buffer);

template<typename PointT>
void
transformPointCloud(
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2::Transform & transform);

template<typename PointT>
void
transformPointCloud(
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const geometry_msgs::msg::TransformStamped & transform);

template<typename PointT>
bool
transformPointCloud(
  const std::string & target_frame,
  const pcl::PointCloud<PointT> & cloud_in,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2_ros::Buffer & tf_buffer);

template<typename PointT>
bool
transformPointCloud(
  const std::string & target_frame,
  const rclcpp::Time & target_time,
  const pcl::PointCloud<PointT> & cloud_in,
  const std::string & fixed_frame,
  pcl::PointCloud<PointT> & cloud_out,
  const tf2_ros::Buffer & tf_buffer);

bool
transformPointCloud(
  const std::string & target_frame,
  const sensor_msgs::msg::PointCloud2 & in,
  sensor_msgs::msg::PointCloud2 & out,
  const tf2_ros::Buffer & tf_buffer);

void
transformPointCloud(
  const std::string & target_frame,
  const tf2::Transform & net_transform,
  const sensor_msgs::msg::PointCloud2 & in,
  sensor_msgs::msg::PointCloud2 & out);

void
transformPointCloud(
  const std::string & target_frame,
  const geometry_msgs::msg::TransformStamped & net_transform,
  const sensor_msgs::msg::PointCloud2 & in,
  sensor_msgs::msg::PointCloud2 & out);

void
transformPointCloud(
  const Eigen::Matrix4f & transform,
  const sensor_msgs::msg::PointCloud2 & in,
  sensor_msgs::msg::PointCloud2 & out);

void
transformAsMatrix(const tf2::Transform & bt, Eigen::Matrix4f & out_mat);

void
transformAsMatrix(const geometry_msgs::msg::TransformStamped & bt, Eigen::Matrix4f & out_mat);
}  // namespace pcl_ros

#endif  // PCL_ROS__TRANSFORMS_HPP_