22 #ifndef __LIBS_PCL_UTILS_UTILS_H_
23 #define __LIBS_PCL_UTILS_UTILS_H_
25 #include <pcl/point_cloud.h>
40 template <
typename Po
intT>
45 cloud->header.stamp.sec = time.
get_sec();
46 cloud->header.stamp.nsec = time.
get_usec() * 1000;
62 template <
typename Po
intT>
67 time.
set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
82 template <
typename Po
intT>
87 time.
set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
100 template <
typename Po
intT1,
typename Po
intT2>
105 to->header.stamp = from->header.stamp;
123 template <
typename Po
intT>
124 typename pcl::PointCloud<PointT>::Ptr
125 cloudptr_from_refptr(
fawkes::RefPtr<pcl::PointCloud<PointT> > &in)
128 boost::shared_ptr<pcl::PointCloud<PointT> >(*in, PointCloudNonDeleter());
132 template <
typename Po
intT>
133 typename pcl::PointCloud<PointT>::ConstPtr
134 cloudptr_from_refptr(
fawkes::RefPtr<
const pcl::PointCloud<PointT> > &in)
137 boost::shared_ptr<const pcl::PointCloud<PointT> >(*in, PointCloudNonDeleter());