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;
69 unsigned int &width,
unsigned int &height,
70 std::string &frame_id,
bool &is_dense,
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.
void close(const std::string &id)
Close an adapter.
PointFieldInfo()
Constructor for pre-allocation.
Fawkes library namespace.
Information about the data fields.
~PointCloudAdapter()
Destructor.
A class for handling time.
void get_data_and_info(const std::string &id, std::string &frame_id, bool &is_dense, unsigned int &width, unsigned int &height, fawkes::Time &time, V_PointFieldInfo &pfi, void **data_ptr, size_t &point_size, size_t &num_points)
Get data and info of point cloud.
uint32_t offset
Offset from start of point struct.
std::string name
Name of field.
PointCloudAdapter(fawkes::PointCloudManager *pcl_manager, fawkes::Logger *logger)
Constructor.
void get_info(const std::string &id, unsigned int &width, unsigned int &height, std::string &frame_id, bool &is_dense, V_PointFieldInfo &pfi)
Get info about point cloud.
Point cloud adapter class.
uint32_t count
How many elements in field.
void get_data(const std::string &id, std::string &frame_id, unsigned int &width, unsigned int &height, fawkes::Time &time, void **data_ptr, size_t &point_size, size_t &num_points)
Get current data of point cloud.