Struct PointCloud2Msg 

pub struct PointCloud2Msg {
    pub header: HeaderMsg,
    pub dimensions: CloudDimensions,
    pub fields: Vec<PointFieldMsg>,
    pub endian: Endian,
    pub point_step: u32,
    pub row_step: u32,
    pub data: Vec<u8>,
    pub dense: Denseness,
}

The intermediate point cloud type for ROS integrations.

To assert consistency, the type should be build with the PointCloud2MsgBuilder. See the offical ROS message description for more information on the fields.

Fields

header: HeaderMsg

dimensions: CloudDimensions

fields: Vec<PointFieldMsg>

endian: Endian

point_step: u32

row_step: u32

data: Vec<u8>

dense: Denseness

Implementations

impl PointCloud2Msg

pub fn try_from_iter<'a, const N: usize, C>( iterable: impl IntoIterator<Item = &'a C>, ) -> Result<PointCloud2Msg, MsgConversionError>

where C: PointConvertible<N> + 'a,

Create a PointCloud2Msg from any iterable type that implements PointConvertible.

Example

use ros_pointcloud2::prelude::*;

let cloud_points: Vec<PointXYZ> = vec![
    PointXYZ::new(1.0, 2.0, 3.0),
    PointXYZ::new(4.0, 5.0, 6.0),
];

pub fn try_from_vec<const N: usize, C>( vec: &[C], ) -> Result<PointCloud2Msg, MsgConversionError>

where C: PointConvertible<N>,

Create a PointCloud2Msg from a Vec of points. Since the point type is known at compile time, the conversion is done by direct copy.

Example

use ros_pointcloud2::prelude::*;

let cloud_points: Vec<PointXYZ> = vec![
    PointXYZ::new(1.0, 2.0, 3.0),
    PointXYZ::new(4.0, 5.0, 6.0),
];

let msg_out = PointCloud2Msg::try_from_vec(&cloud_points).unwrap();

Errors

Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.

pub fn try_into_vec<const N: usize, C>( self, ) -> Result<Vec<C>, MsgConversionError>

where C: PointConvertible<N>,

Convert the PointCloud2Msg to a Vec of points.

Example

use ros_pointcloud2::prelude::*;

let cloud_points: Vec<PointXYZI> = vec![
    PointXYZI::new(1.0, 2.0, 3.0, 0.5),
    PointXYZI::new(4.0, 5.0, 6.0, 1.1),
];

let msg_out = PointCloud2Msg::try_from_vec(&cloud_points).unwrap();
let cloud_points_out: Vec<PointXYZ> = msg_out.try_into_vec().unwrap();
assert_eq!(1.0, cloud_points_out.get(0).unwrap().x);

Errors

Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.

pub fn try_into_iter<const N: usize, C>( self, ) -> Result<impl Iterator<Item = C>, MsgConversionError>

where C: PointConvertible<N>,

Convert the PointCloud2Msg to an iterator.

Example

use ros_pointcloud2::prelude::*;

let cloud_points: Vec<PointXYZI> = vec![
    PointXYZI::new(1.0, 2.0, 3.0, 0.5),
    PointXYZI::new(4.0, 5.0, 6.0, 1.1),
];

let msg_out = PointCloud2Msg::try_from_iter(&cloud_points).unwrap();
let cloud_points_out = msg_out.try_into_iter().unwrap().collect::<Vec<PointXYZ>>();

Errors

Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.

Trait Implementations

impl Clone for PointCloud2Msg

fn clone(&self) -> PointCloud2Msg

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PointCloud2Msg

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for PointCloud2Msg

fn deserialize<__D>( __deserializer: __D, ) -> Result<PointCloud2Msg, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<PointCloud2> for PointCloud2Msg

Available on crate feature ros2-interfaces-jazzy-serde only.

fn from(msg: PointCloud2) -> PointCloud2Msg

Converts to this type from the input type.

impl Serialize for PointCloud2Msg

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.