pcl::PCLPointCloud2 Struct Reference — PointCloudLibrary

#include <pcl/PCLPointCloud2.h>

Public Types
using	Ptr = shared_ptr< ::pcl::PCLPointCloud2 >
using	ConstPtr = shared_ptr< const ::pcl::PCLPointCloud2 >

Public Member Functions
PCLPointCloud2 &	operator+= (const PCLPointCloud2 &rhs)
	Add a point cloud to the current cloud. More...
PCLPointCloud2	operator+ (const PCLPointCloud2 &rhs)
	Add a point cloud to another cloud. More...
template<typename T >
const T &	at (const pcl::uindex_t &point_index, const pcl::uindex_t &field_offset) const
	Get value at specified offset. More...
template<typename T >
T &	at (const pcl::uindex_t &point_index, const pcl::uindex_t &field_offset)
	Get value at specified offset. More...

Static Public Member Functions
static bool	concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPointCloud2 &cloud2)
	Inplace concatenate two pcl::PCLPointCloud2. More...
static bool	concatenate (const PCLPointCloud2 &cloud1, const PCLPointCloud2 &cloud2, PCLPointCloud2 &cloud_out)
	Concatenate two pcl::PCLPointCloud2. More...

Public Attributes
::pcl::PCLHeader	header
uindex_t	height = 0
uindex_t	width = 0
std::vector<::pcl::PCLPointField >	fields
std::uint8_t	is_bigendian = BOOST_ENDIAN_BIG_BYTE
uindex_t	point_step = 0
uindex_t	row_step = 0
std::vector< std::uint8_t >	data
std::uint8_t	is_dense = 0

Detailed Description

Definition at line 16 of file PCLPointCloud2.h.

Member Typedef Documentation

ConstPtr

using pcl::PCLPointCloud2::ConstPtr = shared_ptr<const ::pcl::PCLPointCloud2>

Definition at line 36 of file PCLPointCloud2.h.

Ptr

using pcl::PCLPointCloud2::Ptr = shared_ptr< ::pcl::PCLPointCloud2>

Definition at line 35 of file PCLPointCloud2.h.

Member Function Documentation

at() [1/2]

template<typename T >

T& pcl::PCLPointCloud2::at	(	const pcl::uindex_t &	point_index,
		const pcl::uindex_t &	field_offset
	)

inline

Get value at specified offset.

Parameters

[in]	point_index	point index.
[in]	field_offset	offset.

Returns: value at the given offset.

Definition at line 109 of file PCLPointCloud2.h.

at() [2/2]

template<typename T >

const T& pcl::PCLPointCloud2::at	(	const pcl::uindex_t &	point_index,
		const pcl::uindex_t &	field_offset
	)		const

inline

Get value at specified offset.

Parameters

[in]	point_index	point index.
[in]	field_offset	offset.

Returns: value at the given offset.

Definition at line 95 of file PCLPointCloud2.h.

concatenate() [1/2]

static bool pcl::PCLPointCloud2::concatenate	(	const PCLPointCloud2 &	cloud1,
		const PCLPointCloud2 &	cloud2,
		PCLPointCloud2 &	cloud_out
	)

inlinestatic

Concatenate two pcl::PCLPointCloud2.

Parameters

[in]	cloud1	the first input point cloud dataset
[in]	cloud2	the second input point cloud dataset
[out]	cloud_out	the resultant output point cloud dataset

Returns: true if successful, false if failed (e.g., name/number of fields differs)

Definition at line 64 of file PCLPointCloud2.h.

References pcl::concatenate().

concatenate() [2/2]

static bool pcl::PCLPointCloud2::concatenate	(	pcl::PCLPointCloud2 &	cloud1,
		const pcl::PCLPointCloud2 &	cloud2
	)

static

Inplace concatenate two pcl::PCLPointCloud2.

IFF the layout of all the fields in both the clouds is the same, this command doesn't remove any fields named "_" (aka marked as skip). For comparison of field names, "rgb" and "rgba" are considered equivalent However, if the order and/or number of non-skip fields is different, the skip fields are dropped and non-skip fields copied selectively. This function returns an error if

the total number of non-skip fields is different
the non-skip field names are named differently (excluding "rbg{a}") in serial order
the endian-ness of both clouds is different

Parameters

[in,out] cloud1 the first input and output point cloud dataset

[in] cloud2 the second input point cloud dataset

Returns

true if successful, false if failed (e.g., name/number of fields differs)

Referenced by pcl::concatenate(), and pcl::PolygonMesh::concatenate().

operator+()

PCLPointCloud2 pcl::PCLPointCloud2::operator+ ( const PCLPointCloud2 & rhs )

inline

Add a point cloud to another cloud.

Parameters

[in] rhs the cloud to add to the current cloud

Returns: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 84 of file PCLPointCloud2.h.

operator+=()

PCLPointCloud2& pcl::PCLPointCloud2::operator+= ( const PCLPointCloud2 & rhs )

Add a point cloud to the current cloud.

Parameters

[in] rhs the cloud to add to the current cloud

Returns: the new cloud as a concatenation of the current cloud and the new given cloud

Member Data Documentation

data

std::vector<std::uint8_t> pcl::PCLPointCloud2::data

Definition at line 30 of file PCLPointCloud2.h.

Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::copyValueString(), pcl::copyValueString< std::int8_t >(), pcl::copyValueString< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::isValueFinite(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::SurfaceReconstruction< PointInT >::reconstruct(), pcl::MeshConstruction< PointInT >::reconstruct(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2().

fields

std::vector<::pcl::PCLPointField> pcl::PCLPointCloud2::fields

Definition at line 23 of file PCLPointCloud2.h.

Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::copyValueString(), pcl::copyValueString< std::int8_t >(), pcl::copyValueString< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::getFieldIndex(), pcl::getFieldsList(), pcl::isValueFinite(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2().

header

::pcl::PCLHeader pcl::PCLPointCloud2::header

Definition at line 18 of file PCLPointCloud2.h.

Referenced by pcl::fromPCLPointCloud2(), and pcl::toPCLPointCloud2().

height

uindex_t pcl::PCLPointCloud2::height = 0

Definition at line 20 of file PCLPointCloud2.h.

Referenced by pcl::PolygonMesh::concatenate(), pcl::fromPCLPointCloud2(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer(), pcl::SurfaceReconstruction< PointInT >::reconstruct(), pcl::MeshConstruction< PointInT >::reconstruct(), and pcl::toPCLPointCloud2().

is_bigendian

std::uint8_t pcl::PCLPointCloud2::is_bigendian = BOOST_ENDIAN_BIG_BYTE

Definition at line 26 of file PCLPointCloud2.h.

is_dense

std::uint8_t pcl::PCLPointCloud2::is_dense = 0

Definition at line 32 of file PCLPointCloud2.h.

Referenced by pcl::detail::copyStringValue(), pcl::fromPCLPointCloud2(), and pcl::toPCLPointCloud2().

point_step

uindex_t pcl::PCLPointCloud2::point_step = 0

Definition at line 27 of file PCLPointCloud2.h.

Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2().

row_step

uindex_t pcl::PCLPointCloud2::row_step = 0

Definition at line 28 of file PCLPointCloud2.h.

Referenced by pcl::fromPCLPointCloud2(), and pcl::toPCLPointCloud2().

width

uindex_t pcl::PCLPointCloud2::width = 0

Definition at line 21 of file PCLPointCloud2.h.

The documentation for this struct was generated from the following file:

pcl/PCLPointCloud2.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/structpcl_1_1_p_c_l_point_cloud2.html

[in,out]	cloud1	the first input and output point cloud dataset
[in]	cloud2	the second input point cloud dataset

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

ConstPtr

Ptr

Member Function Documentation

at() [1/2]

at() [2/2]

concatenate() [1/2]

concatenate() [2/2]

operator+()

operator+=()

Member Data Documentation

data

fields

header

height

is_bigendian

is_dense

point_step

row_step

width