pcl.cpp

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#include "pcl.h"
 
#include <algorithm>
#include <iterator>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
namespace armarx::conversions
{
    pcl::PointCloud<pcl::PointXYZ>
    to3D(const pcl::PointCloud<pcl::PointXY>& v)
    {
        pcl::PointCloud<pcl::PointXYZ> pc;
        pc.points.reserve(v.size());
 
        std::transform(v.begin(),
                       v.end(),
                       std::back_inserter(pc),
                       static_cast<pcl::PointXYZ (*)(const pcl::PointXY&)>(&to3D));
 
        pc.width = v.height;
        pc.height = v.width;
        pc.is_dense = v.is_dense;
 
        pc.header = v.header;
 
        return pc;
    }
 
} // namespace armarx::conversions