point_cloud2.cpp File Reference

#include <mrpt/maps/CColouredPointsMap.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/ros1bridge/point_cloud2.h>
#include <mrpt/ros1bridge/time.h>
#include <mrpt/version.h>
#include <ros/console.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointField.h>

Include dependency graph for point_cloud2.cpp:

Go to the source code of this file.

Namespaces
	mrpt::ros1bridge
	ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h.

Functions
static bool	mrpt::ros1bridge::check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
static void	mrpt::ros1bridge::get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)
static void	mrpt::ros1bridge::get_uint16_from_field (const sensor_msgs::PointField *field, const unsigned char *data, uint16_t &output)
sensor_msgs::PointCloud2: ROS <-> MRPT
std::set< std::string >	mrpt::ros1bridge::extractFields (const sensor_msgs::PointCloud2 &msg)
	Extract a list of fields found in the point cloud. More...
bool	mrpt::ros1bridge::fromROS (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj)
	Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap Only (x,y,z) data is converted. More...
bool	mrpt::ros1bridge::fromROS (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CPointsMapXYZI &obj)
bool	mrpt::ros1bridge::toROS (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
	Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More...
bool	mrpt::ros1bridge::fromROS (const sensor_msgs::PointCloud2 &m, mrpt::obs::CObservationRotatingScan &o, const mrpt::poses::CPose3D &sensorPoseOnRobot, unsigned int num_azimuth_divisions=360)
	Convert sensor_msgs/PointCloud2 -> mrpt::obs::CObservationRotatingScan. More...