| 79 | |
| 80 | template <typename T> |
| 81 | sensor_msgs::PointCloud2 cloud2msg(pcl::PointCloud<T> cloud, std::string frame_id) { |
| 82 | sensor_msgs::PointCloud2 cloud_ROS; |
| 83 | pcl::toROSMsg(cloud, cloud_ROS); |
| 84 | cloud_ROS.header.frame_id = frame_id; |
| 85 | return cloud_ROS; |
| 86 | } |
| 87 | |
| 88 | int main(int argc, char **argv) { |
| 89 | ros::init(argc, argv, "Offline KITTI"); |