point_cloud_utils.cpp File Reference

#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <common/types.hpp>
#include <helper_functions/float_comparisons.hpp>
#include <algorithm>
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include "lidar_utils/point_cloud_utils.hpp"

Include dependency graph for point_cloud_utils.cpp:

Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.
	autoware::common
	autoware::common::lidar_utils

Functions
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)
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...
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)

Variables
static constexpr auto	EPSf = std::numeric_limits<autoware::common::types::float32_t>::epsilon()

Variable Documentation

EPSf

constexpr auto EPSf = std::numeric_limits<autoware::common::types::float32_t>::epsilon()

staticconstexpr