.. _namespace_sensor_msgs:

Namespace sensor_msgs
=====================


Tools for manipulating :ref:`namespace_sensor_msgs`. 




.. contents:: Contents
   :local:
   :backlinks: none




Detailed Description
--------------------

This file provides a type to enum mapping for the different PointField types and methods to read and write in a PointCloud2 buffer for the different PointField types.

Convert between the old (sensor_msgs::msg::PointCloud) and the new (sensor_msgs::msg::PointCloud2) format.

This file provides two sets of utilities to modify and parse PointCloud2 The first set allows you to conveniently set the fields by hand:

*   #include <sensor_msgs/point_cloud_iterator.hpp>
*   // Create a PointCloud2
*   sensor_msgs::msg::PointCloud2 cloud_msg;
*   // Fill some internals of the PoinCloud2 like the header/width/height ...
*   cloud_msgs.height = 1;  cloud_msgs.width = 4;
*   // Set the point fields to xyzrgb and resize the vector with the following command
*   // 4 is for the number of added fields. Each come in triplet: the name of the PointField,
*   // the number of occurrences of the type in the PointField, the type of the PointField
*   sensor_msgs::msg::PointCloud2Modifier modifier(cloud_msg);
*   modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::msg::PointField::FLOAT32,
*                                            "y", 1, sensor_msgs::msg::PointField::FLOAT32,
*                                            "z", 1, sensor_msgs::msg::PointField::FLOAT32,
*                                            "rgb", 1, sensor_msgs::msg::PointField::FLOAT32);
*   // For convenience and the xyz, rgb, rgba fields, you can also use the following overloaded function.
*   // You have to be aware that the following function does add extra padding for backward compatibility though
*   // so it is definitely the solution of choice for PointXYZ and PointXYZRGB
*   // 2 is for the number of fields to add
*   modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
*   // You can then reserve / resize as usual
*   modifier.resize(100);
* 

The second set allows you to traverse your PointCloud using an iterator:

*   // Define some raw data we'll put in the PointCloud2
*   float point_data[] = {1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0};
*   uint8_t color_data[] = {40, 80, 120, 160, 200, 240, 20, 40, 60, 80, 100, 120};
*   // Define the iterators. When doing so, you define the Field you would like to iterate upon and
*   // the type of you would like returned: it is not necessary the type of the PointField as sometimes
*   // you pack data in another type (e.g. 3 uchar + 1 uchar for RGB are packed in a float)
*   sensor_msgs::PointCloud2Iterator<float> iter_x(cloud_msg, "x");
*   sensor_msgs::PointCloud2Iterator<float> iter_y(cloud_msg, "y");
*   sensor_msgs::PointCloud2Iterator<float> iter_z(cloud_msg, "z");
*   // Even though the r,g,b,a fields do not exist (it's usually rgb, rgba), you can create iterators for
*   // those: they will handle data packing for you (in little endian RGB is packed as \*,R,G,B in a float
*   // and RGBA as A,R,G,B)
*   sensor_msgs::PointCloud2Iterator<uint8_t> iter_r(cloud_msg, "r");
*   sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(cloud_msg, "g");
*   sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(cloud_msg, "b");
*   // Fill the PointCloud2
*   for(size_t i=0; i<n_points; ++i, ++iter_x, ++iter_y, ++iter_z, ++iter_r, ++iter_g, ++iter_b) {
*     \*iter_x = point_data[3*i+0];
*     \*iter_y = point_data[3*i+1];
*     \*iter_z = point_data[3*i+2];
*     \*iter_r = color_data[3*i+0];
*     \*iter_g = color_data[3*i+1];
*     \*iter_b = color_data[3*i+2];
*   }
* 

Radu Bogdan Rusu

Sebastian Pütz 







Namespaces
----------


- :ref:`namespace_sensor_msgs__distortion_models`

- :ref:`namespace_sensor_msgs__image_encodings`

- :ref:`namespace_sensor_msgs__impl`


Classes
-------


- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1FLOAT32_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1FLOAT64_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1INT16_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1INT32_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1INT8_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1UINT16_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1UINT32_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1pointFieldTypeAsType_3_01sensor__msgs_1_1msg_1_1PointField_1_1UINT8_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01double_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01float_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01int16__t_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01int32__t_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01int8__t_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01uint16__t_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01uint32__t_01_4`

- :ref:`exhale_struct_structsensor__msgs_1_1typeAsPointFieldType_3_01uint8__t_01_4`

- :ref:`exhale_class_classsensor__msgs_1_1PointCloud2ConstIterator`

- :ref:`exhale_class_classsensor__msgs_1_1PointCloud2Iterator`

- :ref:`exhale_class_classsensor__msgs_1_1PointCloud2Modifier`


Functions
---------


- :ref:`exhale_function_namespacesensor__msgs_1aafe3d2d3cf25ef9bca0af7fec0be9299`

- :ref:`exhale_function_namespacesensor__msgs_1ae5aa13867669ee435ee81855ab3f0076`

- :ref:`exhale_function_namespacesensor__msgs_1a165b22391673e160503b26d414b317d4`

- :ref:`exhale_function_namespacesensor__msgs_1ad1016b54a2534564a3a22a3be1309837`

- :ref:`exhale_function_namespacesensor__msgs_1a60049b289082c009ae062d7ff12668a9`

- :ref:`exhale_function_namespacesensor__msgs_1a20707b149ecbb6e86a5bd6ee980d1607`

- :ref:`exhale_function_namespacesensor__msgs_1a012828710ed90e478741f9934f6f8dc2`