Template Function autoware_utils_pcl::transform_point_cloud_from_ros_msg

• Defined in File pcl_conversion.hpp

Function Documentation

template<typename Scalar>
void autoware_utils_pcl::transform_point_cloud_from_ros_msg(const sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<pcl::PointXYZ> &pcl_cloud, const Eigen::Matrix<Scalar, 4, 4> &transform)

a faster implementation of converting sensor_msgs::msg::PointCloud2 to pcl::PointCloud<pcl::PointXYZ> and transform the cloud

Template Parameters:

Scalar –

Parameters:

• cloud – input PointCloud2 message

• pcl_cloud – output transformed pcl cloud

• transform – eigen transformation matrix