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autoware::perception::filters::point_cloud_fusion::PointCloudFusion Class Reference

#include <point_cloud_fusion.hpp>

Public Types

enum  Error : uint8_t { Error::NONE = 0U, Error::TOO_LARGE, Error::INSERT_FAILED }
 
using PointCloudMsgT = sensor_msgs::msg::PointCloud2
 

Public Member Functions

 PointCloudFusion (uint32_t cloud_capacity, size_t input_topics_size)
 constructor More...
 
uint32_t fuse_pc_msgs (const std::array< PointCloudMsgT::ConstSharedPtr, 8 > &msgs, PointCloudMsgT &cloud_concatenated)
 This function goes through all of the messages and adds them to the concatenated point cloud. If a pointcloud cannot be transformed to the output frame, it's ignored. If concatenation exceeds the maximum capacity, fusion stops and the partially concatenated cloud is still published. More...
 

Member Typedef Documentation

◆ PointCloudMsgT

Member Enumeration Documentation

◆ Error

Enumerator
NONE 
TOO_LARGE 
INSERT_FAILED 

Constructor & Destructor Documentation

◆ PointCloudFusion()

autoware::perception::filters::point_cloud_fusion::PointCloudFusion::PointCloudFusion ( uint32_t  cloud_capacity,
size_t  input_topics_size 
)
explicit

constructor

Parameters
[in]cloud_capacity
[in]input_topics_size

Member Function Documentation

◆ fuse_pc_msgs()

uint32_t autoware::perception::filters::point_cloud_fusion::PointCloudFusion::fuse_pc_msgs ( const std::array< PointCloudMsgT::ConstSharedPtr, 8 > &  msgs,
PointCloudMsgT cloud_concatenated 
)

This function goes through all of the messages and adds them to the concatenated point cloud. If a pointcloud cannot be transformed to the output frame, it's ignored. If concatenation exceeds the maximum capacity, fusion stops and the partially concatenated cloud is still published.

Parameters
[in]msgsmsgs to be fused.
[out]cloud_concatenatedfused msgs.
Returns
Size of the concatenated pointcloud.

The documentation for this class was generated from the following files: