Class: Sensor_msgs::PointCloud2

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/sensor_msgs/PointCloud2.rb

Constant Summary collapse

@@struct_LCL = 
::ROS::Struct.new("LCL")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_CL2 = 
::ROS::Struct.new("CL2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','uint32','uint32','sensor_msgs/PointField[]','bool','uint32','uint32','uint8[]','bool']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ PointCloud2

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :header (Header) —

    initialize value

  • :height (uint32) —

    initialize value

  • :width (uint32) —

    initialize value

  • :fields (sensor_msgs/PointField[]) —

    initialize value

  • :is_bigendian (bool) —

    initialize value

  • :point_step (uint32) —

    initialize value

  • :row_step (uint32) —

    initialize value

  • :data (uint8[]) —

    initialize value

  • :is_dense (bool) —

    initialize value



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# File 'lib/sensor_msgs/PointCloud2.rb', line 112

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:header]
    @header = args[:header]
  else
    @header = Std_msgs::Header.new
  end
  if args[:height]
    @height = args[:height]
  else
    @height = 0
  end
  if args[:width]
    @width = args[:width]
  else
    @width = 0
  end
  if args[:fields]
    @fields = args[:fields]
  else
    @fields = []
  end
  if args[:is_bigendian]
    @is_bigendian = args[:is_bigendian]
  else
    @is_bigendian = false
  end
  if args[:point_step]
    @point_step = args[:point_step]
  else
    @point_step = 0
  end
  if args[:row_step]
    @row_step = args[:row_step]
  else
    @row_step = 0
  end
  if args[:data]
    @data = args[:data]
  else
    @data = ''
  end
  if args[:is_dense]
    @is_dense = args[:is_dense]
  else
    @is_dense = false
  end
end

Instance Attribute Details

#data ⇒ Object

Returns the value of attribute data.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def data
  @data
end

#fields ⇒ Object

Returns the value of attribute fields.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def fields
  @fields
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def header
  @header
end

#height ⇒ Object

Returns the value of attribute height.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def height
  @height
end

#is_bigendian ⇒ Object

Returns the value of attribute is_bigendian.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def is_bigendian
  @is_bigendian
end

#is_dense ⇒ Object

Returns the value of attribute is_dense.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def is_dense
  @is_dense
end

#point_step ⇒ Object

Returns the value of attribute point_step.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def point_step
  @point_step
end

#row_step ⇒ Object

Returns the value of attribute row_step.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def row_step
  @row_step
end

#width ⇒ Object

Returns the value of attribute width.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 89

def width
  @width
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud2.rb', line 10

def self.md5sum
  "1158d486dd51d683ce2f1be655c3c181"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud2.rb', line 14

def self.type
  "sensor_msgs/PointCloud2"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/PointCloud2.rb', line 163

def _get_types
  @slot_types
end

#deserialize(str) ⇒ Object

unpack serialized message in str into this message instance

@param [String] str: byte array of serialized message



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# File 'lib/sensor_msgs/PointCloud2.rb', line 198

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@height, @width,) = @@struct_L2.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @fields = []
    length.times do
      val1 = Sensor_msgs::PointField.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.name = str[start..(end_point-1)]
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('LCL')
      (_x.offset, _x.datatype, _x.count,) = @@struct_LCL.unpack(str[start..(end_point-1)])
      @fields.push(val1)
    end
    start = end_point
    end_point += ROS::Struct::calc_size('CL2')
    (@is_bigendian, @point_step, @row_step,) = @@struct_CL2.unpack(str[start..(end_point-1)])
    @is_bigendian = bool(@is_bigendian)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @data = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@is_dense,) = @@struct_C.unpack(str[start..(end_point-1)])
    @is_dense = bool(@is_dense)
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/sensor_msgs/PointCloud2.rb', line 18

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud2.rb', line 22

def message_definition
  "# 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.

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

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   # Length of a point in bytes
uint32  row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: sensor_msgs/PointField
# This message holds the description of one point entry in the
# PointCloud2 message format.
uint8 INT8    = 1
uint8 UINT8   = 2
uint8 INT16   = 3
uint8 UINT16  = 4
uint8 INT32   = 5
uint8 UINT32  = 6
uint8 FLOAT32 = 7
uint8 FLOAT64 = 8

string name      # Name of field
uint32 offset    # Offset from start of point struct
uint8  datatype  # Datatype enumeration, see above
uint32 count     # How many elements in the field

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/PointCloud2.rb', line 169

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
    _x = @header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@height, @width))
    length = @fields.length
    buff.write(@@struct_L.pack(length))
    for val1 in @fields
      _x = val1.name
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _x = val1
      buff.write(@@struct_LCL.pack(_x.offset, _x.datatype, _x.count))
    end
    buff.write(@@struct_CL2.pack(@is_bigendian, @point_step, @row_step))
    _x = @data
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_C.pack(@is_dense))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end