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Remove unused EigenToPointCloud2 #416

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merged 1 commit into from
Jan 7, 2025
Merged

Remove unused EigenToPointCloud2 #416

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14 changes: 0 additions & 14 deletions ros/src/Utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,11 +185,6 @@ inline void FillPointCloud2XYZ(const std::vector<Eigen::Vector3d> &points, Point
}
}

inline void FillPointCloud2Timestamp(const std::vector<double> &timestamps, PointCloud2 &msg) {
sensor_msgs::PointCloud2Iterator<double> msg_t(msg, "time");
for (size_t i = 0; i < timestamps.size(); i++, ++msg_t) *msg_t = timestamps[i];
}

inline std::vector<double> GetTimestamps(const PointCloud2::ConstSharedPtr msg) {
auto timestamp_field = GetTimestampField(msg);
if (!timestamp_field.has_value()) return {};
Expand Down Expand Up @@ -228,13 +223,4 @@ 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
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