ndt_map_publisher.cpp File Reference

#include <GeographicLib/Geocentric.hpp>
#include <lidar_utils/point_cloud_utils.hpp>
#include <ndt/ndt_map_publisher.hpp>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
#include <yaml-cpp/yaml.h>
#include <string>
#include <utility>

Include dependency graph for ndt_map_publisher.cpp:

Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.
	autoware::localization
	autoware::localization::ndt

Functions
void NDT_PUBLIC	autoware::localization::ndt::read_from_yaml (const std::string &yaml_file_name, geodetic_pose_t *geo_pose)
void NDT_PUBLIC	autoware::localization::ndt::read_from_pcd (const std::string &file_name, sensor_msgs::msg::PointCloud2 *msg)
geocentric_pose_t NDT_PUBLIC	autoware::localization::ndt::load_map (const std::string &yaml_file_name, const std::string &pcl_file_name, sensor_msgs::msg::PointCloud2 &pc_out)
	Read the pcd file with filename into a PointCloud2 message, transform it into an NDT representation and then serialize the ndt representation back into a PointCloud2 message that can be published. More...