added native sensor_msgs::PointCloud2 support without conversion #9
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| sensor_msgs::convertPointCloud2ToPointCloud(scan_in, cloud_in); | ||
| tf_->transformPointCloud(fixed_frame_id, cloud_in, cloud_out) ; | ||
| return ; | ||
| pcl_ros::transformPointCloud(fixed_frame_id, cloud_in, cloud_out, *tf_); |
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pcl is a huge dependency for that simple function. Use tf2_sensor_msgs instead: https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h#L59
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overall very useful, thank you. It will probably take use a few days to get through the code. I believe some code should be part of the base class (as private lightweight functions). E.g., all that code is duplicated for PointCloud and PointCloud2: Please have only one function for those (like a function that return analyses two different PointFields) |
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@spuetz , any comments on that ? |
…an organized mode
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@vrabaud, I added the method hasEqualScanHeader to check the headers. as recommended by you. Additionally, I fixed the down-sampling for the organized mode. |
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@vrabaud, would be nice, if we can complete this pull request and merge it. thx |
Since the conversion from PointCloud2 to PointCloud and back for assembling the clouds is bad, I added a native sensor_msgs::PointCloud2 support without conversion. I also added an organized mode, to assemble PointClouds2 to an organized PointCloud2.