-
Notifications
You must be signed in to change notification settings - Fork 13
/
_p_c_l_point_cloud2_8h_source.html
256 lines (254 loc) · 38.6 KB
/
_p_c_l_point_cloud2_8h_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Point Cloud Library (PCL): pcl/PCLPointCloud2.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Point Cloud Library (PCL)
 <span id="projectnumber">1.14.1-dev</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_39ef148c3cf3468c290ae8c03b3c03af.html">pcl</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">PCLPointCloud2.h</div> </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <ostream></span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <boost/predef/other/endian.h></span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span> <span class="comment">// for PCL_EXPORTS</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/PCLHeader.h></span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <pcl/PCLPointField.h></span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <<a class="code" href="types_8h.html">pcl/types.h</a>></span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> {</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html"> 16</a></span>  <span class="keyword">struct </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  {</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a635ede67a0140fc22a87988e5b9492bb"> 18</a></span>  <a class="code" href="structpcl_1_1_p_c_l_header.html">::pcl::PCLHeader</a> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a635ede67a0140fc22a87988e5b9492bb">header</a>;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a28a995a6a80bc696bf7b273ee532d1a2"> 20</a></span>  <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">uindex_t</a> height = 0;</div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a0c8b3840f339205b7ea5c7e292ada348"> 21</a></span>  <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">uindex_t</a> width = 0;</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a374391e76c0a261cc6c669f8eaeffea0"> 23</a></span>  std::vector<::pcl::PCLPointField> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a374391e76c0a261cc6c669f8eaeffea0">fields</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  static_assert(BOOST_ENDIAN_BIG_BYTE || BOOST_ENDIAN_LITTLE_BYTE, <span class="stringliteral">"unable to determine system endianness"</span>);</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a42e844d4a06df52c4b8491951111432b"> 26</a></span>  std::uint8_t is_bigendian = BOOST_ENDIAN_BIG_BYTE;</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a9e8c0fd863180ae09d94abbec41de7a5"> 27</a></span>  <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">uindex_t</a> point_step = 0;</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a4b0a5a0eb0011702ad67bf8e3205cb9d"> 28</a></span>  <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">uindex_t</a> row_step = 0;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#acff4511872a575011926927fea3764b4"> 30</a></span>  std::vector<std::uint8_t> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#acff4511872a575011926927fea3764b4">data</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a038c13c72c8c4b3280e33833bed7eb1a"> 32</a></span>  std::uint8_t is_dense = 0;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a5123c3c0386ccc5efd7d7a3b70fdc9bc"> 35</a></span>  <span class="keyword">using</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a5123c3c0386ccc5efd7d7a3b70fdc9bc">Ptr</a> = shared_ptr< ::pcl::PCLPointCloud2>;</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#ad44a1f084d41d5bac3d41fe247364bb5"> 36</a></span>  <span class="keyword">using</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#ad44a1f084d41d5bac3d41fe247364bb5">ConstPtr</a> = shared_ptr<const ::pcl::PCLPointCloud2>;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"></span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> //////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"></span><span class="comment"> /** \brief Inplace concatenate two pcl::PCLPointCloud2</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> * IFF the layout of all the fields in both the clouds is the same, this command</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> * doesn't remove any fields named "_" (aka marked as skip). For comparison of field</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> * names, "rgb" and "rgba" are considered equivalent</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> * However, if the order and/or number of non-skip fields is different, the skip fields</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> * are dropped and non-skip fields copied selectively.</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> * This function returns an error if</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> * * the total number of non-skip fields is different</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> * * the non-skip field names are named differently (excluding "rbg{a}") in serial order</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> * * the endian-ness of both clouds is different</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * \param[in,out] cloud1 the first input and output point cloud dataset</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * \param[in] cloud2 the second input point cloud dataset</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * \return true if successful, false if failed (e.g., name/number of fields differs)</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a7346aad6c08fcbd799f87f9676e5e0a1"> 55</a></span>  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a7346aad6c08fcbd799f87f9676e5e0a1">concatenate</a> (<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &cloud1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &cloud2);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"></span> </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> /** \brief Concatenate two pcl::PCLPointCloud2</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> * \param[in] cloud1 the first input point cloud dataset</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * \param[in] cloud2 the second input point cloud dataset</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> * \param[out] cloud_out the resultant output point cloud dataset</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * \return true if successful, false if failed (e.g., name/number of fields differs)</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a5a7bbe01091c7127d1ea76ba85a7dc49"> 64</a></span>  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a5a7bbe01091c7127d1ea76ba85a7dc49">concatenate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &cloud1,</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &cloud2,</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &cloud_out)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  cloud_out = cloud1;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> <a class="code" href="group__common.html#ga15bd342ae8b2f7b0722c9290524e65d4">concatenate</a>(cloud_out, cloud2);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"></span> </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> /** \brief Add a point cloud to the current cloud.</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> * \param[in] rhs the cloud to add to the current cloud</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> * \return the new cloud as a concatenation of the current cloud and the new given cloud</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#aa8482cf7287bc0b8f4d4fac621a09321"> 77</a></span>  operator += (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>& rhs);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"></span> </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> /** \brief Add a point cloud to another cloud.</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> * \param[in] rhs the cloud to add to the current cloud</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> * \return the new cloud as a concatenation of the current cloud and the new given cloud</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a1189b59d27817c1f29dc78a16482a087"> 84</a></span>  operator + (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>& rhs)</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> (*<span class="keyword">this</span>) += rhs);</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  }</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"></span> </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> /** \brief Get value at specified offset.</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> * \param[in] point_index point index.</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> * \param[in] field_offset offset.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \return value at the given offset.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">inline</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#a272ea77d23dcb67478f01bcd8f116409"> 95</a></span>  <span class="keyword">const</span> T& <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a272ea77d23dcb67478f01bcd8f116409">at</a>(<span class="keyword">const</span> <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">pcl::uindex_t</a>& point_index, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">pcl::uindex_t</a>& field_offset)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> <span class="keyword">auto</span> position = point_index * point_step + field_offset;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> (data.size () >= (position + <span class="keyword">sizeof</span>(T)))</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">return</span> <span class="keyword">reinterpret_cast<</span><span class="keyword">const </span>T&<span class="keyword">></span>(data[position]);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">throw</span> std::out_of_range(<span class="stringliteral">"PCLPointCloud2::at"</span>);</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"></span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> /** \brief Get value at specified offset.</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> * \param[in] point_index point index.</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> * \param[in] field_offset offset.</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> * \return value at the given offset.</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">inline</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html#ace372f0c36a7a91266f6be849dad9c06"> 109</a></span>  T& <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#ace372f0c36a7a91266f6be849dad9c06">at</a>(<span class="keyword">const</span> <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">pcl::uindex_t</a>& point_index, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">pcl::uindex_t</a>& field_offset) {</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keyword">const</span> <span class="keyword">auto</span> position = point_index * point_step + field_offset;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">if</span> (data.size () >= (position + <span class="keyword">sizeof</span>(T)))</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">return</span> <span class="keyword">reinterpret_cast<</span>T&<span class="keyword">></span>(data[position]);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">throw</span> std::out_of_range(<span class="stringliteral">"PCLPointCloud2::at"</span>);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }; <span class="comment">// struct PCLPointCloud2</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="namespacepcl.html#a73ae712f092fbdb4a77bddd2310cdab5"> 118</a></span>  <span class="keyword">using</span> <a class="code" href="namespacepcl.html#a73ae712f092fbdb4a77bddd2310cdab5">PCLPointCloud2Ptr</a> = <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#a5123c3c0386ccc5efd7d7a3b70fdc9bc">PCLPointCloud2::Ptr</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="namespacepcl.html#ad64de997fa516c97e85cf8dc9d72146d"> 119</a></span>  <span class="keyword">using</span> <a class="code" href="namespacepcl.html#ad64de997fa516c97e85cf8dc9d72146d">PCLPointCloud2ConstPtr</a> = <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html#ad44a1f084d41d5bac3d41fe247364bb5">PCLPointCloud2::ConstPtr</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="namespacepcl.html#a308f9f5919e442b1b4b084b0fdcc4a05"> 121</a></span>  <span class="keyword">inline</span> std::ostream& <a class="code" href="namespacepcl.html#a4e32b0632e12d5a051cb8b04ea5f5ca0">operator<<</a>(std::ostream& s, const ::pcl::PCLPointCloud2 &v)</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  s << <span class="stringliteral">"header: "</span> << std::endl;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  s << v.header;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  s << <span class="stringliteral">"height: "</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  s << <span class="stringliteral">" "</span> << v.height << std::endl;</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  s << <span class="stringliteral">"width: "</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  s << <span class="stringliteral">" "</span> << v.width << std::endl;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  s << <span class="stringliteral">"fields[]"</span> << std::endl;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < v.fields.size (); ++i)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  {</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  s << <span class="stringliteral">" fields["</span> << i << <span class="stringliteral">"]: "</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  s << std::endl;</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  s << <span class="stringliteral">" "</span> << v.fields[i] << std::endl;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  s << <span class="stringliteral">"is_bigendian: "</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  s << <span class="stringliteral">" "</span> << v.is_bigendian << std::endl;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  s << <span class="stringliteral">"point_step: "</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  s << <span class="stringliteral">" "</span> << v.point_step << std::endl;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  s << <span class="stringliteral">"row_step: "</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  s << <span class="stringliteral">" "</span> << v.row_step << std::endl;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  s << <span class="stringliteral">"data[]"</span> << std::endl;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < v.data.size (); ++i)</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  {</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  s << <span class="stringliteral">" data["</span> << i << <span class="stringliteral">"]: "</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  s << <span class="stringliteral">" "</span> << <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(v.data[i]) << std::endl;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  s << <span class="stringliteral">"is_dense: "</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  s << <span class="stringliteral">" "</span> << v.is_dense << std::endl;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">return</span> (s);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> } <span class="comment">// namespace pcl</span></div>
<div class="ttc" id="agroup__common_html_ga15bd342ae8b2f7b0722c9290524e65d4"><div class="ttname"><a href="group__common.html#ga15bd342ae8b2f7b0722c9290524e65d4">pcl::concatenate</a></div><div class="ttdeci">bool concatenate(const pcl::PointCloud< PointT > &cloud1, const pcl::PointCloud< PointT > &cloud2, pcl::PointCloud< PointT > &cloud_out)</div><div class="ttdoc">Concatenate two pcl::PointCloud<PointT></div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2io_8h_source.html#l00281">io.h:281</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a1b98b7f9535916d9dffec6d425d2eed9"><div class="ttname"><a href="namespacepcl.html#a1b98b7f9535916d9dffec6d425d2eed9">pcl::uindex_t</a></div><div class="ttdeci">detail::int_type_t< detail::index_type_size, false > uindex_t</div><div class="ttdoc">Type used for an unsigned index in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00120">types.h:120</a></div></div>
<div class="ttc" id="anamespacepcl_html_a4e32b0632e12d5a051cb8b04ea5f5ca0"><div class="ttname"><a href="namespacepcl.html#a4e32b0632e12d5a051cb8b04ea5f5ca0">pcl::operator<<</a></div><div class="ttdeci">std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)</div><div class="ttdef"><b>Definition:</b> <a href="bivariate__polynomial_8hpp_source.html#l00237">bivariate_polynomial.hpp:238</a></div></div>
<div class="ttc" id="anamespacepcl_html_a73ae712f092fbdb4a77bddd2310cdab5"><div class="ttname"><a href="namespacepcl.html#a73ae712f092fbdb4a77bddd2310cdab5">pcl::PCLPointCloud2Ptr</a></div><div class="ttdeci">PCLPointCloud2::Ptr PCLPointCloud2Ptr</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00118">PCLPointCloud2.h:118</a></div></div>
<div class="ttc" id="anamespacepcl_html_ad64de997fa516c97e85cf8dc9d72146d"><div class="ttname"><a href="namespacepcl.html#ad64de997fa516c97e85cf8dc9d72146d">pcl::PCLPointCloud2ConstPtr</a></div><div class="ttdeci">PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00119">PCLPointCloud2.h:119</a></div></div>
<div class="ttc" id="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00325">pcl_macros.h:325</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_header_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a></div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_header_8h_source.html#l00010">PCLHeader.h:11</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00016">PCLPointCloud2.h:17</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a272ea77d23dcb67478f01bcd8f116409"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a272ea77d23dcb67478f01bcd8f116409">pcl::PCLPointCloud2::at</a></div><div class="ttdeci">const T & at(const pcl::uindex_t &point_index, const pcl::uindex_t &field_offset) const</div><div class="ttdoc">Get value at specified offset.</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00095">PCLPointCloud2.h:95</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a374391e76c0a261cc6c669f8eaeffea0"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a374391e76c0a261cc6c669f8eaeffea0">pcl::PCLPointCloud2::fields</a></div><div class="ttdeci">std::vector<::pcl::PCLPointField > fields</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00023">PCLPointCloud2.h:23</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a5123c3c0386ccc5efd7d7a3b70fdc9bc"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a5123c3c0386ccc5efd7d7a3b70fdc9bc">pcl::PCLPointCloud2::Ptr</a></div><div class="ttdeci">shared_ptr< ::pcl::PCLPointCloud2 > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00035">PCLPointCloud2.h:35</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a5a7bbe01091c7127d1ea76ba85a7dc49"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a5a7bbe01091c7127d1ea76ba85a7dc49">pcl::PCLPointCloud2::concatenate</a></div><div class="ttdeci">static bool concatenate(const PCLPointCloud2 &cloud1, const PCLPointCloud2 &cloud2, PCLPointCloud2 &cloud_out)</div><div class="ttdoc">Concatenate two pcl::PCLPointCloud2.</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00064">PCLPointCloud2.h:64</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a635ede67a0140fc22a87988e5b9492bb"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a635ede67a0140fc22a87988e5b9492bb">pcl::PCLPointCloud2::header</a></div><div class="ttdeci">::pcl::PCLHeader header</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00018">PCLPointCloud2.h:18</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_a7346aad6c08fcbd799f87f9676e5e0a1"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#a7346aad6c08fcbd799f87f9676e5e0a1">pcl::PCLPointCloud2::concatenate</a></div><div class="ttdeci">static bool concatenate(pcl::PCLPointCloud2 &cloud1, const pcl::PCLPointCloud2 &cloud2)</div><div class="ttdoc">Inplace concatenate two pcl::PCLPointCloud2.</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_ace372f0c36a7a91266f6be849dad9c06"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#ace372f0c36a7a91266f6be849dad9c06">pcl::PCLPointCloud2::at</a></div><div class="ttdeci">T & at(const pcl::uindex_t &point_index, const pcl::uindex_t &field_offset)</div><div class="ttdoc">Get value at specified offset.</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00109">PCLPointCloud2.h:109</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_acff4511872a575011926927fea3764b4"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#acff4511872a575011926927fea3764b4">pcl::PCLPointCloud2::data</a></div><div class="ttdeci">std::vector< std::uint8_t > data</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00030">PCLPointCloud2.h:30</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html_ad44a1f084d41d5bac3d41fe247364bb5"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html#ad44a1f084d41d5bac3d41fe247364bb5">pcl::PCLPointCloud2::ConstPtr</a></div><div class="ttdeci">shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00036">PCLPointCloud2.h:36</a></div></div>
<div class="ttc" id="atypes_8h_html"><div class="ttname"><a href="types_8h.html">types.h</a></div><div class="ttdoc">Defines basic non-point types used by PCL.</div></div>
</div><!-- fragment --></div><!-- contents -->
<hr>
<div id="footer">
<p>
Except where otherwise noted, the PointClouds.org web pages are licensed under <a href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0</a>.
</p>
<p>Pages generated on Sat Dec 21 2024 21:35:59</p>
</div> <!-- #footer -->
</body>
</html>