#include <organized_cloudXYZIR.h>

Inheritance diagram for velodyne_pointcloud::OrganizedCloudXYZIR:

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)
virtual void	newLine ()
	OrganizedCloudXYZIR (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, boost::shared_ptr< tf::TransformListener > tf_ptr=boost::shared_ptr< tf::TransformListener >())
virtual void	setup (const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg)
Private Attributes
sensor_msgs::PointCloud2Iterator < float >	iter_intensity
sensor_msgs::PointCloud2Iterator < uint16_t >	iter_ring
sensor_msgs::PointCloud2Iterator < float >	iter_x
sensor_msgs::PointCloud2Iterator < float >	iter_y
sensor_msgs::PointCloud2Iterator < float >	iter_z

Detailed Description

Definition at line 42 of file organized_cloudXYZIR.h.

Constructor & Destructor Documentation

velodyne_pointcloud::OrganizedCloudXYZIR::OrganizedCloudXYZIR	(	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,
		boost::shared_ptr< tf::TransformListener >	tf_ptr = `boost::shared_ptr<tf::TransformListener>()`
	)

Definition at line 7 of file organized_cloudXYZIR.cc.

Member Function Documentation

void velodyne_pointcloud::OrganizedCloudXYZIR::addPoint	(	float	x,
		float	y,
		float	z,
		const uint16_t	ring,
		const uint16_t	azimuth,
		const float	distance,
		const float	intensity
	)		`[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 45 of file organized_cloudXYZIR.cc.

void velodyne_pointcloud::OrganizedCloudXYZIR::newLine ( ) [virtual]

Implements velodyne_rawdata::DataContainerBase.

Definition at line 25 of file organized_cloudXYZIR.cc.

void velodyne_pointcloud::OrganizedCloudXYZIR::setup ( const velodyne_msgs::VelodyneScan::ConstPtr & scan_msg ) [virtual]

Reimplemented from velodyne_rawdata::DataContainerBase.

Definition at line 35 of file organized_cloudXYZIR.cc.