Functions | Variables
ros_numpy::point_cloud2 Namespace Reference


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


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

Convert a numpy record datatype into a list of PointFields.

Definition at line 88 of file

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

Definition at line 61 of file

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

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

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.frombuffer rather than struct.unpack is speed... especially
for large point clouds, this will be <much> faster.

Definition at line 109 of file

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

Definition at line 241 of file

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

Variable Documentation

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

Definition at line 38 of file

Definition at line 47 of file

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

Definition at line 54 of file

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

Definition at line 53 of file

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

Author(s): Eric Wieser
autogenerated on Wed Apr 3 2019 02:40:14