#include <organized_cloudXYZIRT.h>
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, const float time) |
| virtual void | newLine () |
| OrganizedCloudXYZIRT (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) | |
| virtual void | setup (const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg) |
 Public Member Functions inherited from velodyne_rawdata::DataContainerBase | |
| bool | calculateTransformMatrix (Eigen::Affine3f &matrix, const std::string &target_frame, const std::string &source_frame, const ros::Time &time) |
| bool | computeTransformToFixed (const ros::Time &packet_time) |
| bool | computeTransformToTarget (const ros::Time &scan_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, int fields,...) | |
| const sensor_msgs::PointCloud2 & | finishCloud () |
| void | manage_tf_buffer () |
| bool | pointInRange (float range) |
| void | transformPoint (float &x, float &y, float &z) |
Private Attributes | |
| sensor_msgs::PointCloud2Iterator< float > | iter_intensity |
| sensor_msgs::PointCloud2Iterator< uint16_t > | iter_ring |
| sensor_msgs::PointCloud2Iterator< float > | iter_time |
| 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_ |
| std::string | sensor_frame |
| std::shared_ptr< tf2_ros::Buffer > | tf_buffer |
| std::shared_ptr< tf2_ros::TransformListener > | tf_listener |
| Eigen::Affine3f | tf_matrix_to_fixed |
| Eigen::Affine3f | tf_matrix_to_target |
Detailed Description
Definition at line 42 of file organized_cloudXYZIRT.h.
Constructor & Destructor Documentation
◆ OrganizedCloudXYZIRT()
| velodyne_pointcloud::OrganizedCloudXYZIRT::OrganizedCloudXYZIRT | ( | 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 | ||
| ) |
Definition at line 6 of file organized_cloudXYZIRT.cc.
Member Function Documentation
◆ addPoint()
|
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 46 of file organized_cloudXYZIRT.cc.
◆ newLine()
|
virtual |
Implements velodyne_rawdata::DataContainerBase.
Definition at line 24 of file organized_cloudXYZIRT.cc.
◆ setup()
|
virtual |
Reimplemented from velodyne_rawdata::DataContainerBase.
Definition at line 35 of file organized_cloudXYZIRT.cc.
Member Data Documentation
◆ iter_intensity
|
private |
Definition at line 57 of file organized_cloudXYZIRT.h.
◆ iter_ring
|
private |
Definition at line 58 of file organized_cloudXYZIRT.h.
◆ iter_time
|
private |
Definition at line 57 of file organized_cloudXYZIRT.h.
◆ iter_x
|
private |
Definition at line 57 of file organized_cloudXYZIRT.h.
◆ iter_y
|
private |
Definition at line 57 of file organized_cloudXYZIRT.h.
◆ iter_z
|
private |
Definition at line 57 of file organized_cloudXYZIRT.h.
The documentation for this class was generated from the following files: