23 #ifndef __LIBS_PCL_UTILS_PCL_ADAPTER_H_ 24 #define __LIBS_PCL_UTILS_PCL_ADAPTER_H_ 26 #include <utils/time/time.h> 34 class PointCloudManager;
58 uint8_t datatype, uint32_t count)
59 : name(name), offset(offset), datatype(datatype), count(count) {}
68 void get_info(
const std::string &
id,
69 unsigned int &width,
unsigned int &height,
70 std::string &frame_id,
bool &is_dense,
71 V_PointFieldInfo &pfi);
73 void get_data(
const std::string &
id, std::string &frame_id,
74 unsigned int &width,
unsigned int &height,
fawkes::Time &time,
75 void **data_ptr,
size_t &point_size,
size_t &num_points);
77 void get_data_and_info(
const std::string &
id, std::string &frame_id,
bool &is_dense,
78 unsigned int &width,
unsigned int &height,
fawkes::Time &time,
79 V_PointFieldInfo &pfi,
void **data_ptr,
size_t &point_size,
size_t &num_points);
81 void close(
const std::string &
id);
87 std::map<std::string, StorageAdapter *> __sas;
std::vector< PointFieldInfo > V_PointFieldInfo
Vector of PointFieldInfo.
uint8_t datatype
Datatype enumeration see above.
PointFieldInfo(std::string name, uint32_t offset, uint8_t datatype, uint32_t count)
Constructor.
PointFieldInfo()
Constructor for pre-allocation.
Fawkes library namespace.
Information about the data fields.
A class for handling time.
uint32_t offset
Offset from start of point struct.
std::string name
Name of field.
Point cloud adapter class.
uint32_t count
How many elements in field.