sensor_msgs::PointCloud2Modifier Class Reference

Enables modifying a sensor_msgs::PointCloud2 like a container. More...

#include <point_cloud2_iterator.h>

List of all members.

Public Member Functions
void	clear ()
	remove all T's from the original sensor_msgs::PointCloud2
	PointCloud2Modifier (PointCloud2 &cloud_msg)
	Default constructor.
void	reserve (size_t size)
void	resize (size_t size)
void	setPointCloud2Fields (int n_fields,...)
	Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.
void	setPointCloud2FieldsByString (int n_fields,...)
	Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.
size_t	size () const
Protected Attributes
PointCloud2 &	cloud_msg_

---

Detailed Description

Enables modifying a sensor_msgs::PointCloud2 like a container.

Definition at line 105 of file point_cloud2_iterator.h.

---

Constructor & Destructor Documentation

sensor_msgs::PointCloud2Modifier::PointCloud2Modifier

(

PointCloud2 &

cloud_msg

)

[inline]

Default constructor.

Parameters:

cloud_msg

The sensor_msgs::PointCloud2 to modify

Definition at line 101 of file impl/point_cloud2_iterator.h.

---

Member Function Documentation

void sensor_msgs::PointCloud2Modifier::clear

(

)

[inline]

remove all T's from the original sensor_msgs::PointCloud2

Definition at line 133 of file impl/point_cloud2_iterator.h.

void sensor_msgs::PointCloud2Modifier::reserve

(

size_t

size

)

[inline]

Parameters:

size	The number of T's to reserve in the original sensor_msgs::PointCloud2 for

Definition at line 110 of file impl/point_cloud2_iterator.h.

void sensor_msgs::PointCloud2Modifier::resize

(

size_t

size

)

[inline]

Parameters:

size	The number of T's to change the size of the original sensor_msgs::PointCloud2 by

Definition at line 115 of file impl/point_cloud2_iterator.h.

void sensor_msgs::PointCloud2Modifier::setPointCloud2Fields	(	int	n_fields,
			...
	)		[inline]

Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.

Parameters:

n_fields

the number of fields to add. The fields are given as triplets: name of the field as char*, number of elements in the field, the datatype of the elements in the field

E.g, you create your PointCloud2 message with XYZ/RGB as follows:

   setPointCloud2Fields(cloud_msg, 4, "x", 1, sensor_msgs::PointField::FLOAT32,
                                              "y", 1, sensor_msgs::PointField::FLOAT32,
                                              "z", 1, sensor_msgs::PointField::FLOAT32,
                                              "rgb", 1, sensor_msgs::PointField::FLOAT32);
 

WARNING: THIS DOES NOT TAKE INTO ACCOUNT ANY PADDING AS DONE UNTIL HYDRO For simple usual cases, the overloaded setPointCloud2FieldsByString is what you want.

Parameters:

n_fields

the number of fields to add. The fields are given as triplets: name of the field as char*, number of elements in the field, the datatype of the elements in the field

E.g, you create your PointCloud2 message with XYZ/RGB as follows:

   setPointCloud2FieldsByString(cloud_msg, 4, "x", 1, sensor_msgs::PointField::FLOAT32,
                                              "y", 1, sensor_msgs::PointField::FLOAT32,
                                              "z", 1, sensor_msgs::PointField::FLOAT32,
                                              "rgb", 1, sensor_msgs::PointField::FLOAT32);
 

WARNING: THIS DOES NOT TAKE INTO ACCOUNT ANY PADDING AS DONE UNTIL HYDRO For simple usual cases, the overloaded setPointCloud2FieldsByString is what you want.

Definition at line 165 of file impl/point_cloud2_iterator.h.

void sensor_msgs::PointCloud2Modifier::setPointCloud2FieldsByString	(	int	n_fields,
			...
	)		[inline]

Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.

Parameters:

n_fields

the number of fields to add. The fields are given as strings: "xyz" (3 floats), "rgb" (3 uchar stacked in a float), "rgba" (4 uchar stacked in a float)

Returns:

void

WARNING: THIS FUNCTION DOES ADD ANY NECESSARY PADDING TRANSPARENTLY

Definition at line 197 of file impl/point_cloud2_iterator.h.

size_t sensor_msgs::PointCloud2Modifier::size

(

)

const [inline]

Returns:

the number of T's in the original sensor_msgs::PointCloud2

Definition at line 105 of file impl/point_cloud2_iterator.h.

---

Member Data Documentation

PointCloud2& sensor_msgs::PointCloud2Modifier::cloud_msg_ [protected]

A reference to the original sensor_msgs::PointCloud2 that we read

Definition at line 166 of file point_cloud2_iterator.h.

---

The documentation for this class was generated from the following files:

• point_cloud2_iterator.h
• impl/point_cloud2_iterator.h