velodyne_pointcloud::OrganizedCloudXYZIR Class Reference

#include <organized_cloudXYZIR.h>

Inheritance diagram for velodyne_pointcloud::OrganizedCloudXYZIR:

Public Member Functions
virtual void	addPoint (float x, float y, float z, const uint16_t ring, const uint16_t azimuth, const float distance, const float intensity)
virtual void	newLine ()
	OrganizedCloudXYZIR (const double max_range, const double min_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int num_lasers, const unsigned int scans_per_block, boost::shared_ptr< tf::TransformListener > tf_ptr=boost::shared_ptr< tf::TransformListener >())
virtual void	setup (const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg)
Public Member Functions inherited from velodyne_rawdata::DataContainerBase
bool	computeTransformation (const ros::Time &time)
void	configure (const double max_range, const double min_range, const std::string fixed_frame, const std::string target_frame)
	DataContainerBase (const double max_range, const double min_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int init_width, const unsigned int init_height, const bool is_dense, const unsigned int scans_per_packet, boost::shared_ptr< tf::TransformListener > &tf_ptr, int fields,...)
const sensor_msgs::PointCloud2 &	finishCloud ()
bool	pointInRange (float range)
void	transformPoint (float &x, float &y, float &z)
void	vectorTfToEigen (tf::Vector3 &tf_vec, Eigen::Vector3f &eigen_vec)

Private Attributes
sensor_msgs::PointCloud2Iterator< float >	iter_intensity
sensor_msgs::PointCloud2Iterator< uint16_t >	iter_ring
sensor_msgs::PointCloud2Iterator< float >	iter_x
sensor_msgs::PointCloud2Iterator< float >	iter_y
sensor_msgs::PointCloud2Iterator< float >	iter_z

Additional Inherited Members
Public Attributes inherited from velodyne_rawdata::DataContainerBase
sensor_msgs::PointCloud2	cloud
Protected Attributes inherited from velodyne_rawdata::DataContainerBase
Config	config_
boost::shared_ptr< tf::TransformListener >	tf_ptr
	transform listener More...
Eigen::Affine3f	transformation

Detailed Description

Definition at line 42 of file organized_cloudXYZIR.h.

Constructor & Destructor Documentation

velodyne_pointcloud::OrganizedCloudXYZIR::OrganizedCloudXYZIR	(	const double	max_range,
		const double	min_range,
		const std::string &	target_frame,
		const std::string &	fixed_frame,
		const unsigned int	num_lasers,
		const unsigned int	scans_per_block,
		boost::shared_ptr< tf::TransformListener >	tf_ptr = boost::shared_ptr<tf::TransformListener>()
	)

Definition at line 7 of file organized_cloudXYZIR.cc.

Member Function Documentation

void velodyne_pointcloud::OrganizedCloudXYZIR::addPoint ( float  x, float  y, float  z, const uint16_t  ring, const uint16_t  azimuth, const float  distance, const float  intensity  )

virtual

The laser values are not ordered, the organized structure needs ordered neighbour points. The right order is defined by the laser_ring value. To keep the right ordering, the filtered values are set to NaN.

Implements velodyne_rawdata::DataContainerBase.

Definition at line 45 of file organized_cloudXYZIR.cc.

void velodyne_pointcloud::OrganizedCloudXYZIR::newLine ( )

virtual

Implements velodyne_rawdata::DataContainerBase.

Definition at line 25 of file organized_cloudXYZIR.cc.

void velodyne_pointcloud::OrganizedCloudXYZIR::setup ( const velodyne_msgs::VelodyneScan::ConstPtr &  scan_msg )

virtual

Reimplemented from velodyne_rawdata::DataContainerBase.

Definition at line 35 of file organized_cloudXYZIR.cc.

Member Data Documentation

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_intensity

private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<uint16_t> velodyne_pointcloud::OrganizedCloudXYZIR::iter_ring

private

Definition at line 58 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_x

private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_y

private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_z

private

Definition at line 57 of file organized_cloudXYZIR.h.

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

• organized_cloudXYZIR.h
• organized_cloudXYZIR.cc