Classes
class	DracoPublisher

class	DracoSubscriber

Functions
cras::expected< bool, std::string >	convertDracoToPC2 (const draco::PointCloud &pc, const draco_point_cloud_transport::CompressedPointCloud2 &compressed_PC2, sensor_msgs::PointCloud2 &PC2)
	Method for converting into sensor_msgs::PointCloud2. More...

cras::expected< std::unique_ptr< draco::PointCloud >, std::string >	convertPC2toDraco (const sensor_msgs::PointCloud2 &PC2, const std::string &topic, bool deduplicate, bool expert_encoding)

template<typename PC1 , typename PC2 >
void	copyCloudMetadata (PC1 &target, const PC2 &source)
	copies header, width, ... between clouds More...

Variables
static std::unordered_map< std::string, draco::GeometryAttribute::Type >	attributeTypes

Function Documentation

◆ convertDracoToPC2()

cras::expected<bool, std::string> draco_point_cloud_transport::convertDracoToPC2	(	const draco::PointCloud &	pc,
		const draco_point_cloud_transport::CompressedPointCloud2 &	compressed_PC2,
		sensor_msgs::PointCloud2 &	PC2
	)

Method for converting into sensor_msgs::PointCloud2.

Definition at line 22 of file draco_subscriber.cpp.

◆ convertPC2toDraco()

cras::expected<std::unique_ptr<draco::PointCloud>, std::string> draco_point_cloud_transport::convertPC2toDraco	(	const sensor_msgs::PointCloud2 &	PC2,
		const std::string &	topic,
		bool	deduplicate,
		bool	expert_encoding
	)

Definition at line 49 of file draco_publisher.cpp.

◆ copyCloudMetadata()

template<typename PC1 , typename PC2 >

void draco_point_cloud_transport::copyCloudMetadata	(	PC1 &	target,
		const PC2 &	source
	)

copies header, width, ... between clouds

Definition at line 11 of file conversion_utilities.h.

Variable Documentation

◆ attributeTypes

std::unordered_map<std::string, draco::GeometryAttribute::Type> draco_point_cloud_transport::attributeTypes

static

Initial value:

= {
    {"x", draco::GeometryAttribute::Type::POSITION},
    {"y", draco::GeometryAttribute::Type::POSITION},
    {"z", draco::GeometryAttribute::Type::POSITION},
    {"pos", draco::GeometryAttribute::Type::POSITION},
    {"position", draco::GeometryAttribute::Type::POSITION},
    {"vp_x", draco::GeometryAttribute::Type::POSITION},
    {"vp_y", draco::GeometryAttribute::Type::POSITION},
    {"vp_z", draco::GeometryAttribute::Type::POSITION},
    {"rgb", draco::GeometryAttribute::Type::COLOR},
    {"rgba", draco::GeometryAttribute::Type::COLOR},
    {"r", draco::GeometryAttribute::Type::COLOR},
    {"g", draco::GeometryAttribute::Type::COLOR},
    {"b", draco::GeometryAttribute::Type::COLOR},
    {"a", draco::GeometryAttribute::Type::COLOR},
    {"nx", draco::GeometryAttribute::Type::NORMAL},
    {"ny", draco::GeometryAttribute::Type::NORMAL},
    {"nz", draco::GeometryAttribute::Type::NORMAL},
    {"normal_x", draco::GeometryAttribute::Type::NORMAL},
    {"normal_y", draco::GeometryAttribute::Type::NORMAL},
    {"normal_z", draco::GeometryAttribute::Type::NORMAL},
}

Definition at line 26 of file draco_publisher.cpp.

Classes