Utilities for comfortable working with PointCloud2 messages. More...
#include <string>#include <sensor_msgs/PointCloud2.h>#include <sensor_msgs/PointField.h>#include <sensor_msgs/point_cloud2_iterator.h>#include "cloud/impl/cloud.hpp"
Include dependency graph for cloud.hpp:
Go to the source code of this file.
Namespaces | |
| cras | |
Macros | |
| #define | CREATE_FILTERED_CLOUD(IN, OUT, KEEP_ORGANIZED, FILTER) |
Create a pointcloud that contains a subset of points of IN defined by the filter FILTER. The result is saved into OUT. FILTER should be a boolean expression which can use the following: i: index of the point, x_it, y_it, z_it iterators to XYZ coordinates. Points for which FILTER is true are part of the final pointcloud. More... | |
Typedefs | |
| typedef ::sensor_msgs::PointCloud2 | cras::Cloud |
| Shorthand for sensor_msgs::PointCloud2. More... | |
| typedef ::sensor_msgs::PointCloud2ConstIterator< float > | cras::CloudConstIter |
| Const cloud float field iterator. More... | |
| typedef ::sensor_msgs::PointCloud2ConstIterator< int > | cras::CloudIndexConstIter |
| Const cloud int field iterator. More... | |
| typedef ::sensor_msgs::PointCloud2Iterator< int > | cras::CloudIndexIter |
| Cloud int field iterator. More... | |
| typedef ::sensor_msgs::PointCloud2Iterator< float > | cras::CloudIter |
| Cloud float field iterator. More... | |
| typedef ::sensor_msgs::PointCloud2Modifier | cras::CloudModifier |
| Shorthand for sensor_msgs::PointCloud2Modifier. More... | |
| typedef ::cras::impl::GenericCloudConstIterator | cras::GenericCloudConstIter |
| typedef ::cras::impl::GenericCloudIterator | cras::GenericCloudIter |
| GenericCloudIter and GenericCloudConstIter are iterators of fields of types unknown at compile time. More... | |
Functions | |
| void | cras::copyChannelData (const ::cras::Cloud &in, ::cras::Cloud &out, const ::std::string &fieldName) |
Copy data belonging to the given field from in cloud to out cloud. More... | |
| ::sensor_msgs::PointField & | cras::getField (::cras::Cloud &cloud, const ::std::string &fieldName) |
| Return the sensor_msgs::PointField with the given name. More... | |
| const ::sensor_msgs::PointField & | cras::getField (const ::cras::Cloud &cloud, const ::std::string &fieldName) |
| Return the sensor_msgs::PointField with the given name. More... | |
| bool | cras::hasField (const ::cras::Cloud &cloud, const ::std::string &fieldName) |
| Return true if the cloud contains a field with the given name. More... | |
| size_t | cras::numPoints (const ::cras::Cloud &cloud) |
| Return the number of points the given pointcloud contains. More... | |
| size_t | cras::sizeOfPointField (const ::sensor_msgs::PointField &field) |
| Return the size (in bytes) of the data represented by the sensor_msgs::PointField. More... | |
| size_t | cras::sizeOfPointField (int datatype) |
| Return the size (in bytes) of a sensor_msgs::PointField datatype. More... | |
Detailed Description
Utilities for comfortable working with PointCloud2 messages.
Definition in file cloud.hpp.
Macro Definition Documentation
◆ CREATE_FILTERED_CLOUD
| #define CREATE_FILTERED_CLOUD | ( | IN, | |
| OUT, | |||
| KEEP_ORGANIZED, | |||
| FILTER | |||
| ) |
Create a pointcloud that contains a subset of points of IN defined by the filter FILTER. The result is saved into OUT. FILTER should be a boolean expression which can use the following: i: index of the point, x_it, y_it, z_it iterators to XYZ coordinates. Points for which FILTER is true are part of the final pointcloud.