Public Member Functions | Private Attributes | List of all members
velodyne_pointcloud::OrganizedCloudXYZIR Class Reference

#include <organized_cloudXYZIR.h>

Inheritance diagram for velodyne_pointcloud::OrganizedCloudXYZIR:
Inheritance graph
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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 ()
 
 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)
 
- Public Member Functions inherited from velodyne_rawdata::DataContainerBase
bool computeTransformation (const ros::Time &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, boost::shared_ptr< tf::TransformListener > &tf_ptr, int fields,...)
 
const sensor_msgs::PointCloud2 & finishCloud ()
 
bool pointInRange (float range)
 
void transformPoint (float &x, float &y, float &z)
 
void vectorTfToEigen (tf::Vector3 &tf_vec, Eigen::Vector3f &eigen_vec)
 

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_
 
boost::shared_ptr< tf::TransformListenertf_ptr
 transform listener More...
 
Eigen::Affine3f transformation
 

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,
const float  time 
)
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 48 of file organized_cloudXYZIR.cc.

void velodyne_pointcloud::OrganizedCloudXYZIR::newLine ( )
virtual

Implements velodyne_rawdata::DataContainerBase.

Definition at line 26 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 37 of file organized_cloudXYZIR.cc.

Member Data Documentation

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_intensity
private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<uint16_t> velodyne_pointcloud::OrganizedCloudXYZIR::iter_ring
private

Definition at line 58 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_time
private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_x
private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_y
private

Definition at line 57 of file organized_cloudXYZIR.h.

sensor_msgs::PointCloud2Iterator<float> velodyne_pointcloud::OrganizedCloudXYZIR::iter_z
private

Definition at line 57 of file organized_cloudXYZIR.h.


The documentation for this class was generated from the following files:


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera, Sebastian Pütz
autogenerated on Sun Sep 6 2020 03:25:30