/usr/include/sensor_msgs/point_field_conversion.h is in libsensor-msgs-dev 1.12.5-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | /*
* Software License Agreement (BSD License)
*
* Robot Operating System code by the University of Osnabrück
* Copyright (c) 2015, University of Osnabrück
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above
* copyright notice, this list of conditions and the following
* disclaimer.
*
* 2. Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
*
* point_field_conversion.h
*
* Created on: 16.07.2015
* Authors: Sebastian Pütz <spuetz@uni-osnabrueck.de>
*/
#ifndef SENSOR_MSGS_POINT_FIELD_CONVERSION_H
#define SENSOR_MSGS_POINT_FIELD_CONVERSION_H
/**
* \brief This file provides a type to enum mapping for the different
* PointField types and methods to read and write in
* a PointCloud2 buffer for the different PointField types.
* \author Sebastian Pütz
*/
namespace sensor_msgs{
/*!
* \Enum to type mapping.
*/
template<int> struct pointFieldTypeAsType {};
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT8> { typedef int8_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT8> { typedef uint8_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT16> { typedef int16_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT16> { typedef uint16_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT32> { typedef int32_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT32> { typedef uint32_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT32> { typedef float type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT64> { typedef double type; };
/*!
* \Type to enum mapping.
*/
template<typename T> struct typeAsPointFieldType {};
template<> struct typeAsPointFieldType<int8_t> { static const uint8_t value = sensor_msgs::PointField::INT8; };
template<> struct typeAsPointFieldType<uint8_t> { static const uint8_t value = sensor_msgs::PointField::UINT8; };
template<> struct typeAsPointFieldType<int16_t> { static const uint8_t value = sensor_msgs::PointField::INT16; };
template<> struct typeAsPointFieldType<uint16_t> { static const uint8_t value = sensor_msgs::PointField::UINT16; };
template<> struct typeAsPointFieldType<int32_t> { static const uint8_t value = sensor_msgs::PointField::INT32; };
template<> struct typeAsPointFieldType<uint32_t> { static const uint8_t value = sensor_msgs::PointField::UINT32; };
template<> struct typeAsPointFieldType<float> { static const uint8_t value = sensor_msgs::PointField::FLOAT32; };
template<> struct typeAsPointFieldType<double> { static const uint8_t value = sensor_msgs::PointField::FLOAT64; };
/*!
* \Converts a value at the given pointer position, interpreted as the datatype
* specified by the given template argument point_field_type, to the given
* template type T and returns it.
* \param data_ptr pointer into the point cloud 2 buffer
* \tparam point_field_type sensor_msgs::PointField datatype value
* \tparam T return type
*/
template<int point_field_type, typename T>
inline T readPointCloud2BufferValue(const unsigned char* data_ptr){
typedef typename pointFieldTypeAsType<point_field_type>::type type;
return static_cast<T>(*(reinterpret_cast<type const *>(data_ptr)));
}
/*!
* \Converts a value at the given pointer position interpreted as the datatype
* specified by the given datatype parameter to the given template type and returns it.
* \param data_ptr pointer into the point cloud 2 buffer
* \param datatype sensor_msgs::PointField datatype value
* \tparam T return type
*/
template<typename T>
inline T readPointCloud2BufferValue(const unsigned char* data_ptr, const unsigned char datatype){
switch(datatype){
case sensor_msgs::PointField::INT8:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr);
case sensor_msgs::PointField::UINT8:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr);
case sensor_msgs::PointField::INT16:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr);
case sensor_msgs::PointField::UINT16:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr);
case sensor_msgs::PointField::INT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr);
case sensor_msgs::PointField::UINT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr);
case sensor_msgs::PointField::FLOAT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr);
case sensor_msgs::PointField::FLOAT64:
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr);
}
}
/*!
* \Inserts a given value at the given point position interpreted as the datatype
* specified by the template argument point_field_type.
* \param data_ptr pointer into the point cloud 2 buffer
* \param value the value to insert
* \tparam point_field_type sensor_msgs::PointField datatype value
* \tparam T type of the value to insert
*/
template<int point_field_type, typename T>
inline void writePointCloud2BufferValue(unsigned char* data_ptr, T value){
typedef typename pointFieldTypeAsType<point_field_type>::type type;
*(reinterpret_cast<type*>(data_ptr)) = static_cast<type>(value);
}
/*!
* \Inserts a given value at the given point position interpreted as the datatype
* specified by the given datatype parameter.
* \param data_ptr pointer into the point cloud 2 buffer
* \param datatype sensor_msgs::PointField datatype value
* \param value the value to insert
* \tparam T type of the value to insert
*/
template<typename T>
inline void writePointCloud2BufferValue(unsigned char* data_ptr, const unsigned char datatype, T value){
switch(datatype){
case sensor_msgs::PointField::INT8:
writePointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT8:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr, value);
break;
case sensor_msgs::PointField::INT16:
writePointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT16:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr, value);
break;
case sensor_msgs::PointField::INT32:
writePointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT32:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::FLOAT32:
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::FLOAT64:
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr, value);
break;
}
}
}
#endif /* point_field_conversion.h */
|