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remove file data_convert

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This commit is contained in:
duongtd
2025-11-26 16:25:06 +07:00
parent d3588f0bb5
commit 12000dabcc
7 changed files with 52 additions and 166 deletions
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2
tf3_sensor_msgs/CMakeLists.txt
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@@ -41,6 +41,7 @@ target_include_directories(tf3_sensor_msgs INTERFACE
target_link_libraries(tf3_sensor_msgs INTERFACE
sensor_msgs
data_convert
)
@@ -58,4 +59,5 @@ target_link_libraries(test_tf2_sensor_msgs
tf3_sensor_msgs
geometry_msgs
tf3
data_convert
)

6
tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h
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@@ -35,7 +35,7 @@
#include <sensor_msgs/point_cloud2_iterator.h>
#include <Eigen/Eigen>
#include <Eigen/Geometry>
#include <tf3_sensor_msgs/data_convert.h>
#include <data_convert/data_convert.h>
namespace tf3
{
@@ -52,7 +52,7 @@ namespace tf3
*/
template <>
inline
const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return convertTime(p.header.stamp);}
const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);}
/** \brief Extract a frame ID from the header of a PointCloud2 message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -71,7 +71,7 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
{
p_out = p_in;
p_out.header.seq = p_in.header.seq;
p_out.header.stamp = tf3::convertTime(t_in.header.stamp);
p_out.header.stamp = data_convert::convertTime(t_in.header.stamp);
p_out.header.frame_id = t_in.header.frame_id;
Eigen::Transform<float,3,Eigen::Isometry> t = Eigen::Translation3f(t_in.transform.translation.x, t_in.transform.translation.y,
t_in.transform.translation.z) * Eigen::Quaternion<float>(

6
tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp
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@@ -59,7 +59,7 @@ TEST(Tf2Sensor, PointCloud2)
tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
"B", // frame đích
cloud.header.frame_id, // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
sensor_msgs::PointCloud2 cloud_simple; // hoặc v1
@@ -76,7 +76,7 @@ TEST(Tf2Sensor, PointCloud2)
tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform(
"B", // frame đích
"A", // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
sensor_msgs::PointCloud2 cloud_advanced; // hoặc v1
@@ -108,7 +108,7 @@ int main(int argc, char **argv){
t.header.stamp = robot::Time(2.0);
t.header.frame_id = "A";
t.child_frame_id = "B";
tf3::TransformStampedMsg t_msg = tf3::convertToTransformStampedMsg(t);
tf3::TransformStampedMsg t_msg = data_convert::convertToTransformStampedMsg(t);
tf_buffer->setTransform(t_msg, "test");
int ret = RUN_ALL_TESTS();