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

#include <point_cloud2_iterator.h>

Public Member Functions
void	clear ()
	remove all T's from the original sensor_msgs::PointCloud2 More...

	PointCloud2Modifier (PointCloud2 &cloud_msg)
	Default constructor. More...

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. More...

void	setPointCloud2FieldsByString (int n_fields,...)
	Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2. More...

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 102 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 134 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 111 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 116 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 166 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)