Function pcl_ros::transformPointCloud(const std::string&, const sensor_msgs::msg::PointCloud2&, sensor_msgs::msg::PointCloud2&, const tf2_ros::Buffer&)

• Defined in File transforms.hpp

Function Documentation

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

Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.

Parameters:

• target_frame – the target TF frame

• in – the input PointCloud2 dataset

• out – the resultant transformed PointCloud2 dataset

• tf_buffer – a TF buffer object