conversions.h

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#ifndef PCL_ROS_CONVERSIONS_H_ 
#define PCL_ROS_CONVERSIONS_H_

#ifdef __DEPRECATED
#warning The <pcl/ros/conversions.h> header is deprecated. please use \
<pcl/conversions.h> instead.
#endif

#include <pcl/conversions.h>

namespace pcl
{
  /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
    * \param[in] msg the PCLPointCloud2 binary blob
    * \param[out] cloud the resultant pcl::PointCloud<T>
    * \param[in] field_map a MsgFieldMap object
    *
    * \note Use fromROSMsg (PCLPointCloud2, PointCloud<T>) directly or create you
    * own MsgFieldMap using:
    *
    * \code
    * MsgFieldMap field_map;
    * createMapping<PointT> (msg.fields, field_map);
    * \endcode
    */
  template <typename PointT>
  PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
  void
  fromROSMsg (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
              const MsgFieldMap& field_map)
  {
    fromPCLPointCloud2 (msg, cloud, field_map);
  }

  /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object.
    * \param[in] msg the PCLPointCloud2 binary blob
    * \param[out] cloud the resultant pcl::PointCloud<T>
    */
  template<typename PointT>
  PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
  void
  fromROSMsg (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud)
  {
    fromPCLPointCloud2 (msg, cloud);
  }

  /** \brief Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
    * \param[in] cloud the input pcl::PointCloud<T>
    * \param[out] msg the resultant PCLPointCloud2 binary blob
    */
  template<typename PointT>
  PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
  void
  toROSMsg (const pcl::PointCloud<PointT>& cloud, pcl::PCLPointCloud2& msg)
  {
    toPCLPointCloud2 (cloud, msg);
  }

   /** \brief Copy the RGB fields of a PointCloud into pcl::PCLImage format
     * \param[in] cloud the point cloud message
     * \param[out] msg the resultant pcl::PCLImage
     * CloudT cloud type, CloudT should be akin to pcl::PointCloud<pcl::PointXYZRGBA>
     * \note will throw std::runtime_error if there is a problem
     */
  template<typename CloudT>
  PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
  void
  toROSMsg (const CloudT& cloud, pcl::PCLImage& msg)
  {
    toPCLPointCloud2 (cloud, msg);
  }

  /** \brief Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format
    * \param cloud the point cloud message
    * \param msg the resultant pcl::PCLImage
    * will throw std::runtime_error if there is a problem
    */
  inline void
  PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
  toROSMsg (const pcl::PCLPointCloud2& cloud, pcl::PCLImage& msg)
  {
    toPCLPointCloud2 (cloud, msg);
  }
}

#endif  //#ifndef PCL_ROS_CONVERSIONS_H_