#include "pointcloud2_adapter.h"

namespace adapters
{
namespace ros2
{
core::PointCloudFrame fromPointCloud2(const PointCloud2Message &message)
{
    core::PointCloudFrame frame;
    frame.points = message.xyz;
    frame.frameId = message.frameId;
    frame.timestampUsec = message.timestampUsec;
    frame.sourceLabel = "ros2:PointCloud2";
    return frame;
}
} // namespace ros2
} // namespace adapters