# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from sensor_msgs/PointCloud2.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import sensor_msgs.msg
import std_msgs.msg
class PointCloud2(genpy.Message):
_md5sum = "1158d486dd51d683ce2f1be655c3c181"
_type = "sensor_msgs/PointCloud2"
_has_header = True # flag to mark the presence of a Header object
_full_text = """# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.
# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.
# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header
# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width
# Describes the channels and their layout in the binary data blob.
PointField[] fields
bool is_bigendian # Is this data bigendian?
uint32 point_step # Length of a point in bytes
uint32 row_step # Length of a row in bytes
uint8[] data # Actual point data, size is (row_step*height)
bool is_dense # True if there are no invalid points
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
================================================================================
MSG: sensor_msgs/PointField
# This message holds the description of one point entry in the
# PointCloud2 message format.
uint8 INT8 = 1
uint8 UINT8 = 2
uint8 INT16 = 3
uint8 UINT16 = 4
uint8 INT32 = 5
uint8 UINT32 = 6
uint8 FLOAT32 = 7
uint8 FLOAT64 = 8
string name # Name of field
uint32 offset # Offset from start of point struct
uint8 datatype # Datatype enumeration, see above
uint32 count # How many elements in the field
"""
__slots__ = ['header','height','width','fields','is_bigendian','point_step','row_step','data','is_dense']
_slot_types = ['std_msgs/Header','uint32','uint32','sensor_msgs/PointField[]','bool','uint32','uint32','uint8[]','bool']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
header,height,width,fields,is_bigendian,point_step,row_step,data,is_dense
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(PointCloud2, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.header is None:
self.header = std_msgs.msg.Header()
if self.height is None:
self.height = 0
if self.width is None:
self.width = 0
if self.fields is None:
self.fields = []
if self.is_bigendian is None:
self.is_bigendian = False
if self.point_step is None:
self.point_step = 0
if self.row_step is None:
self.row_step = 0
if self.data is None:
self.data = b''
if self.is_dense is None:
self.is_dense = False
else:
self.header = std_msgs.msg.Header()
self.height = 0
self.width = 0
self.fields = []
self.is_bigendian = False
self.point_step = 0
self.row_step = 0
self.data = b''
self.is_dense = False
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.height, _x.width))
length = len(self.fields)
buff.write(_struct_I.pack(length))
for val1 in self.fields:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_IBI().pack(_x.offset, _x.datatype, _x.count))
_x = self
buff.write(_get_struct_B2I().pack(_x.is_bigendian, _x.point_step, _x.row_step))
_x = self.data
length = len(_x)
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
else:
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.is_dense
buff.write(_get_struct_B().pack(_x))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.fields is None:
self.fields = None
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.height, _x.width,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.fields = []
for i in range(0, length):
val1 = sensor_msgs.msg.PointField()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 9
(_x.offset, _x.datatype, _x.count,) = _get_struct_IBI().unpack(str[start:end])
self.fields.append(val1)
_x = self
start = end
end += 9
(_x.is_bigendian, _x.point_step, _x.row_step,) = _get_struct_B2I().unpack(str[start:end])
self.is_bigendian = bool(self.is_bigendian)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
self.data = str[start:end]
start = end
end += 1
(self.is_dense,) = _get_struct_B().unpack(str[start:end])
self.is_dense = bool(self.is_dense)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.height, _x.width))
length = len(self.fields)
buff.write(_struct_I.pack(length))
for val1 in self.fields:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_IBI().pack(_x.offset, _x.datatype, _x.count))
_x = self
buff.write(_get_struct_B2I().pack(_x.is_bigendian, _x.point_step, _x.row_step))
_x = self.data
length = len(_x)
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(struct.Struct('<I%sB'%length).pack(length, *_x))
else:
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.is_dense
buff.write(_get_struct_B().pack(_x))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.fields is None:
self.fields = None
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.height, _x.width,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.fields = []
for i in range(0, length):
val1 = sensor_msgs.msg.PointField()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 9
(_x.offset, _x.datatype, _x.count,) = _get_struct_IBI().unpack(str[start:end])
self.fields.append(val1)
_x = self
start = end
end += 9
(_x.is_bigendian, _x.point_step, _x.row_step,) = _get_struct_B2I().unpack(str[start:end])
self.is_bigendian = bool(self.is_bigendian)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
self.data = str[start:end]
start = end
end += 1
(self.is_dense,) = _get_struct_B().unpack(str[start:end])
self.is_dense = bool(self.is_dense)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_B = None
def _get_struct_B():
global _struct_B
if _struct_B is None:
_struct_B = struct.Struct("<B")
return _struct_B
_struct_B2I = None
def _get_struct_B2I():
global _struct_B2I
if _struct_B2I is None:
_struct_B2I = struct.Struct("<B2I")
return _struct_B2I
_struct_IBI = None
def _get_struct_IBI():
global _struct_IBI
if _struct_IBI is None:
_struct_IBI = struct.Struct("<IBI")
return _struct_IBI
