From 8b5062d7f1556e9f6202c4e192c0e41c7c704b1a Mon Sep 17 00:00:00 2001 From: Wolfgang Merkt Date: Mon, 8 Apr 2024 12:36:17 +0100 Subject: [PATCH] pcl::transformPointCloud -> pcl_ros::transformPointCloud --- octomap_server/src/octomap_server.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/octomap_server/src/octomap_server.cpp b/octomap_server/src/octomap_server.cpp index 5cc84397..9b60a0e1 100644 --- a/octomap_server/src/octomap_server.cpp +++ b/octomap_server/src/octomap_server.cpp @@ -457,7 +457,7 @@ void OctomapServer::insertCloudCallback(const PointCloud2::ConstSharedPtr cloud) tf2::transformToEigen(base_to_world_transform_stamped.transform).matrix().cast(); // transform pointcloud from sensor frame to fixed robot frame - pcl::transformPointCloud(pc, pc, sensor_to_base); + pcl_ros::transformPointCloud(pc, pc, sensor_to_base); pass_x.setInputCloud(pc.makeShared()); pass_x.filter(pc); pass_y.setInputCloud(pc.makeShared()); @@ -467,11 +467,11 @@ void OctomapServer::insertCloudCallback(const PointCloud2::ConstSharedPtr cloud) filterGroundPlane(pc, pc_ground, pc_nonground); // transform clouds to world frame for insertion - pcl::transformPointCloud(pc_ground, pc_ground, base_to_world); - pcl::transformPointCloud(pc_nonground, pc_nonground, base_to_world); + pcl_ros::transformPointCloud(pc_ground, pc_ground, base_to_world); + pcl_ros::transformPointCloud(pc_nonground, pc_nonground, base_to_world); } else { // directly transform to map frame: - pcl::transformPointCloud(pc, pc, sensor_to_world); + pcl_ros::transformPointCloud(pc, pc, sensor_to_world); // just filter height range: pass_x.setInputCloud(pc.makeShared());