Functions | Variables
ros_numpy::point_cloud2 Namespace Reference

Functions

def array_to_pointcloud2
def dtype_to_fields
def fields_to_dtype
def get_xyz_points
def merge_rgb_fields
def pointcloud2_to_array
def pointcloud2_to_xyz_array
def split_rgb_field

Variables

string __docformat__ = "restructuredtext en"
string DUMMY_FIELD_PREFIX = '__'
tuple nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings)
dictionary pftype_sizes
tuple pftype_to_nptype = dict(type_mappings)
list type_mappings

Function Documentation

def ros_numpy.point_cloud2.array_to_pointcloud2 (   cloud_arr,
  stamp = None,
  frame_id = None 
)
Converts a numpy record array to a sensor_msgs.msg.PointCloud2.

Definition at line 133 of file point_cloud2.py.

Convert a numpy record datatype into a list of PointFields.

Definition at line 88 of file point_cloud2.py.

def ros_numpy.point_cloud2.fields_to_dtype (   fields,
  point_step 
)
Convert a list of PointFields to a numpy record datatype.

Definition at line 61 of file point_cloud2.py.

def ros_numpy.point_cloud2.get_xyz_points (   cloud_array,
  remove_nans = True,
  dtype = np.float 
)
Pulls out x, y, and z columns from the cloud recordarray, and returns
    a 3xN matrix.

Definition at line 224 of file point_cloud2.py.

Takes an array with named np.uint8 fields 'r', 'g', and 'b', and returns an array in
which they have been merged into a single np.float32 'rgb' field. The first byte of this
field is the 'r' uint8, the second is the 'g', uint8, and the third is the 'b' uint8.

This is the way that pcl likes to handle RGB colors for some reason.

Definition at line 155 of file point_cloud2.py.

def ros_numpy.point_cloud2.pointcloud2_to_array (   cloud_msg,
  squeeze = True 
)
Converts a rospy PointCloud2 message to a numpy recordarray 

Reshapes the returned array to have shape (height, width), even if the height is 1.

The reason for using np.fromstring rather than struct.unpack is speed... especially
for large point clouds, this will be <much> faster.

Definition at line 109 of file point_cloud2.py.

def ros_numpy.point_cloud2.pointcloud2_to_xyz_array (   cloud_msg,
  remove_nans = True 
)

Definition at line 241 of file point_cloud2.py.

Takes an array with a named 'rgb' float32 field, and returns an array in which
this has been split into 3 uint 8 fields: 'r', 'g', and 'b'.

(pcl stores rgb in packed 32 bit floats)

Definition at line 189 of file point_cloud2.py.


Variable Documentation

string ros_numpy::point_cloud2::__docformat__ = "restructuredtext en"

Definition at line 38 of file point_cloud2.py.

Definition at line 47 of file point_cloud2.py.

tuple ros_numpy::point_cloud2::nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings)

Definition at line 54 of file point_cloud2.py.

Initial value:
00001 {PointField.INT8: 1, PointField.UINT8: 1, PointField.INT16: 2, PointField.UINT16: 2,
00002                 PointField.INT32: 4, PointField.UINT32: 4, PointField.FLOAT32: 4, PointField.FLOAT64: 8}

Definition at line 57 of file point_cloud2.py.

Definition at line 53 of file point_cloud2.py.

Initial value:
00001 [(PointField.INT8, np.dtype('int8')), (PointField.UINT8, np.dtype('uint8')), (PointField.INT16, np.dtype('int16')),
00002                  (PointField.UINT16, np.dtype('uint16')), (PointField.INT32, np.dtype('int32')), (PointField.UINT32, np.dtype('uint32')),
00003                  (PointField.FLOAT32, np.dtype('float32')), (PointField.FLOAT64, np.dtype('float64'))]

Definition at line 50 of file point_cloud2.py.



ros_numpy
Author(s): Eric Wieser
autogenerated on Tue Mar 28 2017 04:16:38