DuongTD/laser_geometry
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added .count field (of 1) to every PointCloud2 field description.

Browse Source 
This fixes the bug referred to here: http://dev.pointclouds.org/issues/821 which is useful because that fix in PCL
seems not to be released yet.

Also this way is more correct, as far as I can tell.
This commit is contained in:
Dave Hershberger 2012-11-15 13:07:51 -08:00
parent 1ab017c6d9
commit 4f690e9bee
1 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/laser_geometry.cpp
View File

@ -316,12 +316,15 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[0].name = "x"; cloud_out.fields[0].name = "x";
cloud_out.fields[0].offset = 0; cloud_out.fields[0].offset = 0;
cloud_out.fields[0].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[0].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[0].count = 1;
cloud_out.fields[1].name = "y"; cloud_out.fields[1].name = "y";
cloud_out.fields[1].offset = 4; cloud_out.fields[1].offset = 4;
cloud_out.fields[1].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[1].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[1].count = 1;
cloud_out.fields[2].name = "z"; cloud_out.fields[2].name = "z";
cloud_out.fields[2].offset = 8; cloud_out.fields[2].offset = 8;
cloud_out.fields[2].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[2].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[2].count = 1;
// Define 4 indices in the channel array for each possible value type // Define 4 indices in the channel array for each possible value type
int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1, idx_vpy = -1, idx_vpz = -1; int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1, idx_vpy = -1, idx_vpz = -1;
@ -335,6 +338,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[field_size].name = "intensity"; cloud_out.fields[field_size].name = "intensity";
cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
idx_intensity = field_size; idx_intensity = field_size;
} }
@ -346,6 +350,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[field_size].name = "index"; cloud_out.fields[field_size].name = "index";
cloud_out.fields[field_size].datatype = sensor_msgs::PointField::INT32; cloud_out.fields[field_size].datatype = sensor_msgs::PointField::INT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
idx_index = field_size; idx_index = field_size;
} }
@ -357,6 +362,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[field_size].name = "distances"; cloud_out.fields[field_size].name = "distances";
cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
idx_distance = field_size; idx_distance = field_size;
} }
@ -368,6 +374,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[field_size].name = "stamps"; cloud_out.fields[field_size].name = "stamps";
cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
idx_timestamp = field_size; idx_timestamp = field_size;
} }
@ -380,16 +387,19 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
cloud_out.fields[field_size].name = "vp_x"; cloud_out.fields[field_size].name = "vp_x";
cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
cloud_out.fields[field_size + 1].name = "vp_y"; cloud_out.fields[field_size + 1].name = "vp_y";
cloud_out.fields[field_size + 1].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size + 1].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size + 1].offset = offset; cloud_out.fields[field_size + 1].offset = offset;
cloud_out.fields[field_size + 1].count = 1;
offset += 4; offset += 4;
cloud_out.fields[field_size + 2].name = "vp_z"; cloud_out.fields[field_size + 2].name = "vp_z";
cloud_out.fields[field_size + 2].datatype = sensor_msgs::PointField::FLOAT32; cloud_out.fields[field_size + 2].datatype = sensor_msgs::PointField::FLOAT32;
cloud_out.fields[field_size + 2].offset = offset; cloud_out.fields[field_size + 2].offset = offset;
cloud_out.fields[field_size + 2].count = 1;
offset += 4; offset += 4;
idx_vpx = field_size; idx_vpx = field_size;