ros_numpy::point_cloud2 Namespace Reference

Functions
def	array_to_pointcloud2
def	dtype_to_fields
def	fields_to_dtype
def	get_xyz_points
def	merge_rgb_fields
def	pointcloud2_to_array
def	pointcloud2_to_xyz_array
def	split_rgb_field
Variables
string	__docformat__ = "restructuredtext en"
string	DUMMY_FIELD_PREFIX = '__'
tuple	nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings)
dictionary	pftype_sizes
tuple	pftype_to_nptype = dict(type_mappings)
list	type_mappings

---

Function Documentation

def ros_numpy.point_cloud2.array_to_pointcloud2	(		cloud_arr,
			stamp = None,
			frame_id = None
	)

Converts a numpy record array to a sensor_msgs.msg.PointCloud2.

Definition at line 133 of file point_cloud2.py.

def ros_numpy.point_cloud2.dtype_to_fields

(

dtype

)

Convert a numpy record datatype into a list of PointFields.

Definition at line 88 of file point_cloud2.py.

def ros_numpy.point_cloud2.fields_to_dtype	(		fields,
			point_step
	)

Convert a list of PointFields to a numpy record datatype.

Definition at line 61 of file point_cloud2.py.

def ros_numpy.point_cloud2.get_xyz_points	(		cloud_array,
			remove_nans = True,
			dtype = np.float
	)

Pulls out x, y, and z columns from the cloud recordarray, and returns
    a 3xN matrix.

Definition at line 224 of file point_cloud2.py.

def ros_numpy.point_cloud2.merge_rgb_fields

(

cloud_arr

)

Takes an array with named np.uint8 fields 'r', 'g', and 'b', and returns an array in
which they have been merged into a single np.float32 'rgb' field. The first byte of this
field is the 'r' uint8, the second is the 'g', uint8, and the third is the 'b' uint8.

This is the way that pcl likes to handle RGB colors for some reason.

Definition at line 155 of file point_cloud2.py.

def ros_numpy.point_cloud2.pointcloud2_to_array	(		cloud_msg,
			squeeze = True
	)

Converts a rospy PointCloud2 message to a numpy recordarray 

Reshapes the returned array to have shape (height, width), even if the height is 1.

The reason for using np.fromstring rather than struct.unpack is speed... especially
for large point clouds, this will be <much> faster.

Definition at line 109 of file point_cloud2.py.

def ros_numpy.point_cloud2.pointcloud2_to_xyz_array	(		cloud_msg,
			remove_nans = True
	)

Definition at line 241 of file point_cloud2.py.

def ros_numpy.point_cloud2.split_rgb_field

(

cloud_arr

)

Takes an array with a named 'rgb' float32 field, and returns an array in which
this has been split into 3 uint 8 fields: 'r', 'g', and 'b'.

(pcl stores rgb in packed 32 bit floats)

Definition at line 189 of file point_cloud2.py.

---

Variable Documentation

string ros_numpy::point_cloud2::__docformat__ = "restructuredtext en"

Definition at line 38 of file point_cloud2.py.

string ros_numpy::point_cloud2::DUMMY_FIELD_PREFIX = '__'

Definition at line 47 of file point_cloud2.py.

tuple ros_numpy::point_cloud2::nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings)

Definition at line 54 of file point_cloud2.py.

dictionary ros_numpy::point_cloud2::pftype_sizes

Initial value:

{PointField.INT8: 1, PointField.UINT8: 1, PointField.INT16: 2, PointField.UINT16: 2,
                PointField.INT32: 4, PointField.UINT32: 4, PointField.FLOAT32: 4, PointField.FLOAT64: 8}

Definition at line 57 of file point_cloud2.py.

tuple ros_numpy::point_cloud2::pftype_to_nptype = dict(type_mappings)

Definition at line 53 of file point_cloud2.py.

list ros_numpy::point_cloud2::type_mappings

Initial value:

[(PointField.INT8, np.dtype('int8')), (PointField.UINT8, np.dtype('uint8')), (PointField.INT16, np.dtype('int16')),
                 (PointField.UINT16, np.dtype('uint16')), (PointField.INT32, np.dtype('int32')), (PointField.UINT32, np.dtype('uint32')),
                 (PointField.FLOAT32, np.dtype('float32')), (PointField.FLOAT64, np.dtype('float64'))]

Definition at line 50 of file point_cloud2.py.