22 #ifndef __PLUGINS_ROS_PCL_ADAPTER_H_ 23 #define __PLUGINS_ROS_PCL_ADAPTER_H_ 25 #include <utils/time/time.h> 33 class PointCloudManager;
57 uint8_t datatype, uint32_t count)
58 : name(name), offset(offset), datatype(datatype), count(count) {}
67 void get_info(std::string &
id,
68 unsigned int &width,
unsigned int &height,
69 std::string &frame_id,
bool &is_dense,
70 V_PointFieldInfo &pfi);
72 void get_data(
const std::string &
id,
73 unsigned int &width,
unsigned int &height,
fawkes::Time &time,
74 void **data_ptr,
size_t &point_size,
size_t &num_points);
76 void close(
const std::string &
id);
82 std::map<std::string, StorageAdapter *> __sas;
Information about the data fields.
Fawkes library namespace.
uint32_t offset
Offset from start of point struct.
A class for handling time.
Standalone PCL to ROS adapter class.
PointFieldInfo()
Constructor for pre-allocation.
PointFieldInfo(std::string name, uint32_t offset, uint8_t datatype, uint32_t count)
Constructor.
std::vector< PointFieldInfo > V_PointFieldInfo
Vector of PointFieldInfo.
uint8_t datatype
Datatype enumeration see above.
uint32_t count
How many elements in field.
std::string name
Name of field.