Class XYZPCTransformer

• Defined in File xyz_pc_transformer.hpp

Inheritance Relationships

Base Type

• public rviz_default_plugins::PointCloudTransformer (Class PointCloudTransformer)

Class Documentation

class XYZPCTransformer : public rviz_default_plugins::PointCloudTransformer

Public Functions

virtual uint8_t supports(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &cloud) override

Returns a level of support for a specific cloud. This level of support is a mask using the SupportLevel enum.

virtual bool transform(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &cloud, uint32_t mask, const Ogre::Matrix4 &transform, V_PointCloudPoint &points_out) override

Transforms a PointCloud2 into an rviz::PointCloud. The rviz::PointCloud is assumed to have been preallocated into the correct size. The mask determines which part of the cloud should be output (xyz or color). This method will only be called if supports() of the same cloud has returned a non-zero mask, and will only be called with masks compatible with the one returned from supports()