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Create ordered point cloud (issue #126) #157

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Create ordered point cloud (issue #126) #157

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a1549a3
changed create_cloud to support ordered pointclouds
Jan 20, 2020
3734da2
updated documentation of create_cloud
Jan 20, 2020
6121f9c
check on both height and width
Jan 28, 2020
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20 changes: 13 additions & 7 deletions sensor_msgs/src/sensor_msgs/point_cloud2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ def read_points_list(cloud, field_names=None, skip_nans=False, uvs=[]):

return [Point._make(l) for l in read_points(cloud, field_names, skip_nans, uvs)]

def create_cloud(header, fields, points):
def create_cloud(header, fields, points, height=1, width=None):
"""
Create a L{sensor_msgs.msg.PointCloud2} message.

Expand All @@ -150,28 +150,34 @@ def create_cloud(header, fields, points):
@type points: list of iterables, i.e. one iterable for each point, with the
elements of each iterable being the values of the fields for
that point (in the same order as the fields parameter)
@param height: the height of the point cloud [default: 1]
@type height: unsigned int
@param width: the width of the point cloud [default: None]
@param width: unsigned int
@return: The point cloud.
@rtype: L{sensor_msgs.msg.PointCloud2}
"""
if height == 1 or width is None:
height = 1
width = len(points)

cloud_struct = struct.Struct(_get_struct_fmt(False, fields))

buff = ctypes.create_string_buffer(cloud_struct.size * len(points))

point_step, pack_into = cloud_struct.size, cloud_struct.pack_into
offset = 0
for p in points:
pack_into(buff, offset, *p)
offset += point_step
cloud_struct.pack_into(buff, offset, *p)
offset += cloud_struct.size

return PointCloud2(header=header,
height=1,
width=len(points),
height=height,
width=width,
is_dense=False,
is_bigendian=False,
fields=fields,
point_step=cloud_struct.size,
row_step=cloud_struct.size * len(points),
row_step=cloud_struct.size * width,
data=buff.raw)

def create_cloud_xyz32(header, points):
Expand Down