Struct robotics_signals::sensors::point_cloud::PointCloud

#[repr(C)]
pub struct PointCloud {
    pub header: Header,
    pub height: u32,
    pub width: u32,
    pub fields: Vec<PointField>,
    pub is_bigendian: bool,
    pub point_step: u32,
    pub row_step: u32,
    pub data: Vec<u8>,
    pub is_dense: bool,
}

This message holds a collection of N-dimensional points, which may contain additional information such as normals, intensity, etc. The point data is stored as a binary blob, its layout described by the contents of the “fields” array.

The point cloud data may be organized 2d (image-like) or 1d (unordered). Point clouds organized as 2d images may be produced by camera depth sensors such as stereo or time-of-flight.

Fields

header: Header

Time of sensor data acquisition, and the coordinate frame ID (for 3d points).

height: u32

2D structure of the point cloud. If the point cloud is unordered, height is 1 and width is the length of the point cloud.

width: u32

fields: Vec<PointField>

Describes the channels and their layout in the binary data blob.

is_bigendian: bool

point_step: u32

length of a point in bytes

row_step: u32

length of a row in bytes

data: Vec<u8>

Point data. size is (row_step*height)

is_dense: bool

true if there are no invalid points

Implementations

impl PointCloud

pub fn create_topic_with_name(
    participant: &DdsParticipant,
    name: &str,
    maybe_qos: Option<DdsQos>,
    maybe_listener: Option<DdsListener>
) -> Result<DdsTopic<Self>, DDSError>

Create a topic using of this Type specifying the topic name

Arguments

• participant - The participant handle onto which this topic should be created
• name - The name of the topic
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_topic(
    participant: &DdsParticipant,
    maybe_topic_prefix: Option<&str>,
    maybe_qos: Option<DdsQos>,
    maybe_listener: Option<DdsListener>
) -> Result<DdsTopic<Self>, DDSError>

Create a topic of this Type using the default topic name. The default topic name is provided by the Self::topic_name function.

Arguments

• participant - The participant handle onto which this topic should be created
• maybe_topic_prefix - An additional prefix to be added to the topic name. This can be None
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_sample_buffer(len: usize) -> SampleBuffer<PointCloud>

Create a sample buffer for storing an array of samples You can pass the sample buffer into a read to read multiple samples. Multiple samples are useful when you have one or more keys in your topic structure. Each value of the key will result in the storage of another sample.

Trait Implementations

impl<'de> Deserialize<'de> for PointCloud

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

Deserialize this value from the given Serde deserializer.

impl Serialize for PointCloud

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

Serialize this value into the given Serde serializer.

impl TopicType for PointCloud

fn key_cdr(&self) -> Vec<u8>

return the cdr encoding for the key. The encoded string includes the four byte encapsulation string.

fn is_fixed_size() -> bool

fn has_key() -> bool

fn force_md5_keyhash() -> bool

fn hash(&self) -> u32

fn typename() -> CString

The type name for this topic

fn topic_name(maybe_prefix: Option<&str>) -> String

The default topic_name to use when creating a topic of this type. The default implementation uses ‘/’ instead of ‘::’ to form a unix like path. A prefix can optionally be added