point_cloud_utils.hpp File Reference
This class defines common functions and classes to work with pointclouds. More...
#include <lidar_utils/visibility_control.hpp>#include <common/types.hpp>#include <helper_functions/float_comparisons.hpp>#include <geometry_msgs/msg/transform_stamped.hpp>#include <geometry/common_3d.hpp>#include <sensor_msgs/msg/point_cloud2.hpp>#include <sensor_msgs/point_cloud2_iterator.hpp>#include <Eigen/Core>#include <Eigen/Geometry>#include <atomic>#include <limits>#include <memory>#include <string>#include <vector>
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Namespaces | |
| autoware | |
| This file defines the lanelet2_map_provider_node class. | |
| autoware::common | |
| autoware::common::lidar_utils | |
Functions | |
| LIDAR_UTILS_PUBLIC std::size_t | autoware::common::lidar_utils::index_after_last_safe_byte_index (const sensor_msgs::msg::PointCloud2 &msg) noexcept |
| Compute minimum safe length of point cloud access. More... | |
| LIDAR_UTILS_PUBLIC SafeCloudIndices | autoware::common::lidar_utils::sanitize_point_cloud (const sensor_msgs::msg::PointCloud2 &msg) |
| LIDAR_UTILS_PUBLIC void | autoware::common::lidar_utils::init_pcl_msg (sensor_msgs::msg::PointCloud2 &msg, const std::string &frame_id, const std::size_t size=static_cast< std::size_t >(MAX_SCAN_POINTS)) |
| initializes header information for point cloud for x, y, z and intensity More... | |
| template<typename ... Fields> | |
| LIDAR_UTILS_PUBLIC void | autoware::common::lidar_utils::init_pcl_msg (sensor_msgs::msg::PointCloud2 &msg, const std::string &frame_id, const std::size_t size, const uint32_t num_fields, Fields const &... fields) |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::add_point_to_cloud_raw (sensor_msgs::msg::PointCloud2 &cloud, const autoware::common::types::PointXYZIF &pt, uint32_t point_cloud_idx) |
| add a point in the cloud by memcpy instead of using iterators This version prioritize speed and ease of parallelisation it assumes : - PointXYZIF is a POD object equivalent to a point stored in the cloud, which means same fields and same endianness. More... | |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::add_point_to_cloud (PointCloudIts &cloud_its, const autoware::common::types::PointXYZIF &pt, uint32_t &point_cloud_idx) |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::add_point_to_cloud (sensor_msgs::msg::PointCloud2 &cloud, const autoware::common::types::PointXYZIF &pt, uint32_t &point_cloud_idx) |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::add_point_to_cloud (sensor_msgs::msg::PointCloud2 &cloud, const autoware::common::types::PointXYZF &pt, uint32_t &point_cloud_idx) |
| LIDAR_UTILS_PUBLIC void | autoware::common::lidar_utils::reset_pcl_msg (sensor_msgs::msg::PointCloud2 &msg, const std::size_t size, uint32_t &point_cloud_idx) |
| LIDAR_UTILS_PUBLIC void | autoware::common::lidar_utils::resize_pcl_msg (sensor_msgs::msg::PointCloud2 &msg, const std::size_t new_size) |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::has_intensity_and_throw_if_no_xyz (const PointCloud2::SharedPtr &cloud) |
| LIDAR_UTILS_PUBLIC bool8_t | autoware::common::lidar_utils::has_intensity_and_throw_if_no_xyz (const PointCloud2 &cloud) |
| template<typename T > | |
| LIDAR_UTILS_PUBLIC sensor_msgs::msg::PointCloud2::SharedPtr | autoware::common::lidar_utils::create_custom_pcl (const std::vector< std::string > &field_names, const uint32_t cloud_size) |
Variables | |
| static const uint32_t | autoware::common::lidar_utils::MAX_SCAN_POINTS = 57872U |
Detailed Description
This class defines common functions and classes to work with pointclouds.