xb3_3dpointcloud_message Struct Reference
[Xb3]

#include <xb3_messages.h>

Data Fields
double	timestamp
int	npoints
int	nrgbpoints
int	nremissionpoints
double *	x
double *	y
double *	z
unsigned char *	r
unsigned char *	g
unsigned char *	b
float *	remission
char *	host

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Field Documentation

unsigned char* xb3_3dpointcloud_message::b

The b value of all points. Used only for the stereo camera.

Referenced by draw(), main(), and viewpoint_bykey().

unsigned char* xb3_3dpointcloud_message::g

The g value of all points. Used only for the stereo camera.

Referenced by draw(), main(), and viewpoint_bykey().

char* xb3_3dpointcloud_message::host

Host computer name from where the message was sent. Always here and given by carmen_get_host()

Referenced by laser_handler(), and main().

int xb3_3dpointcloud_message::npoints

npoints number of 3dpoints in message

Referenced by draw(), laser3d_allocate_mem(), laser_handler(), laser_pts(), main(), and viewpoint_bykey().

int xb3_3dpointcloud_message::nremissionpoints

number of remission values given for the 3dpoints in the message. If no remission values are sent, nremissionpoints shld be 0. Otherwise it should be =npoints

Referenced by laser_handler(), and main().

int xb3_3dpointcloud_message::nrgbpoints

number of rgb values given for the 3dpoints in the message. If no rgb values are sent, nrgbpoints shld be 0. Otherwise it should be =npoints

Referenced by draw(), and main().

unsigned char* xb3_3dpointcloud_message::r

The r value of all points. Used only for the stereo camera.

Referenced by draw(), main(), and viewpoint_bykey().

float* xb3_3dpointcloud_message::remission

The actual remission values of all points.

Referenced by laser3d_allocate_mem(), laser_handler(), and laser_pts().

double xb3_3dpointcloud_message::timestamp

timestamp of message. Should always be here and indicates the message time given by carmen_get_time()

Referenced by laser_handler().

double* xb3_3dpointcloud_message::x

The x coordinates of all points. Must already be converted to the global reference frame

Referenced by draw(), laser3d_allocate_mem(), laser_handler(), laser_pts(), main(), and viewpoint_bykey().

double* xb3_3dpointcloud_message::y

The y coordinates of all points. Must already be converted to the global reference frame

Referenced by draw(), laser3d_allocate_mem(), laser_handler(), laser_pts(), main(), and viewpoint_bykey().

double* xb3_3dpointcloud_message::z

The z coordinates of all points. Must already be converted to the global reference frame

Referenced by draw(), laser3d_allocate_mem(), laser_handler(), laser_pts(), main(), and viewpoint_bykey().

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The documentation for this struct was generated from the following file:

• sensors/camera/xb3/xb3_messages.h