Function processPointcloud

grid_map_pcl/src/helpers.cpp:95–102

}

void processPointcloud(grid_map::GridMapPclLoader* gridMapPclLoader, const ros::NodeHandle& nh) {
  const auto start = std::chrono::high_resolution_clock::now();
  gridMapPclLoader->preProcessInputCloud();
  gridMapPclLoader->initializeGridMapGeometryFromInputCloud();
  printTimeElapsedToRosInfoStream(start, "Initialization took: ");
  gridMapPclLoader->addLayerFromInputCloud(getMapLayerName(nh));
  printTimeElapsedToRosInfoStream(start, "Total time: ");
}

Eigen::Affine3f getRigidBodyTransform(const Eigen::Vector3d& translation, const Eigen::Vector3d& intrinsicRpy) {
  Eigen::Affine3f rigidBodyTransform;