Struct ros_pointcloud2::ros_types::PointCloud2Msg

pub struct PointCloud2Msg {
    pub header: HeaderMsg,
    pub height: u32,
    pub width: u32,
    pub fields: Vec<PointFieldMsg>,
    pub is_bigendian: bool,
    pub point_step: u32,
    pub row_step: u32,
    pub data: Vec<u8>,
    pub is_dense: bool,
}

Fields

header: HeaderMsg

height: u32

width: u32

fields: Vec<PointFieldMsg>

is_bigendian: bool

point_step: u32

row_step: u32

data: Vec<u8>

is_dense: bool

Trait Implementations

impl Clone for PointCloud2Msg

fn clone(&self) -> PointCloud2Msg

Returns a copy 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

Formats the value using the given formatter.

impl Default for PointCloud2Msg

fn default() -> PointCloud2Msg

Returns the “default value” for a type.

impl<T, const SIZE: usize, const DIM: usize, const METADIM: usize, C> TryFrom<PointCloud2Msg> for Convert<T, SIZE, DIM, METADIM, C>

where T: FromBytes, C: PointConvertible<T, SIZE, DIM, METADIM>,

fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error>

Converts a ROS PointCloud2 message into a Convert struct that implements the Iterator trait. Iterate over the struct to get or use the points.

Example

Since we do not have a ROS node here, we first create a PointCloud2 message and then convert back to a Convert struct.

use ros_pointcloud2::ros_types::PointCloud2Msg;
use ros_pointcloud2::ConvertXYZ;
use ros_pointcloud2::pcl_utils::PointXYZ;

let cloud_points: Vec<PointXYZ> = vec![
    PointXYZ { x: 1.0, y: 2.0, z: 3.0 },
    PointXYZ { x: 4.0, y: 5.0, z: 6.0 },
];
let msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points).unwrap().try_into().unwrap();

let convert: ConvertXYZ = ConvertXYZ::try_from(msg).unwrap(); // parse message

type Error = ConversionError

The type returned in the event of a conversion error.

impl<T, const SIZE: usize, const DIM: usize, const METADIM: usize, C> TryInto<PointCloud2Msg> for Convert<T, SIZE, DIM, METADIM, C>

where T: FromBytes, C: PointConvertible<T, SIZE, DIM, METADIM>,

fn try_into(self) -> Result<PointCloud2Msg, Self::Error>

Convert the point cloud to a ROS message. First use the try_from method for initializing the conversion and parsing meta data. Then use the try_into method to do the actual conversion.

Example

use ros_pointcloud2::ros_types::PointCloud2Msg;
use ros_pointcloud2::ConvertXYZ;
use ros_pointcloud2::pcl_utils::PointXYZ;

let cloud_points: Vec<PointXYZ> = vec![
    PointXYZ { x: 1.0, y: 2.0, z: 3.0 },
    PointXYZ { x: 4.0, y: 5.0, z: 6.0 },
];
let msg_out: PointCloud2Msg = ConvertXYZ::try_from(cloud_points).unwrap().try_into().unwrap();

type Error = ConversionError

The type returned in the event of a conversion error.