Isolate changes

PRBonn · Jan 6, 2025 · 0135d1e · 0135d1e
1 parent 07020e8
commit 0135d1e
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/ros/src/Utils.hpp b/ros/src/Utils.hpp
@@ -228,4 +228,13 @@ inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::
                    [&](const auto &point) { return T * point; });
     return EigenToPointCloud2(points_t, header);
 }
+
+inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::Vector3d> &points,
+                                                       const std::vector<double> &timestamps,
+                                                       const Header &header) {
+    auto msg = CreatePointCloud2Msg(points.size(), header, true);
+    FillPointCloud2XYZ(points, *msg);
+    FillPointCloud2Timestamp(timestamps, *msg);
+    return msg;
+}
 }  // namespace kiss_icp_ros::utils