6 #include <boost/predef/other/endian.h>
8 #include <pcl/PCLHeader.h>
9 #include <pcl/PCLPointField.h>
18 std::uint32_t height = 0;
19 std::uint32_t width = 0;
21 std::vector<::pcl::PCLPointField>
fields;
23 static_assert(BOOST_ENDIAN_BIG_BYTE || BOOST_ENDIAN_LITTLE_BYTE,
"unable to determine system endianness");
24 std::uint8_t is_bigendian = BOOST_ENDIAN_BIG_BYTE;
25 std::uint32_t point_step = 0;
26 std::uint32_t row_step = 0;
28 std::vector<std::uint8_t>
data;
30 std::uint8_t is_dense = 0;
91 inline std::ostream&
operator<<(std::ostream& s, const ::pcl::PCLPointCloud2 &v)
93 s <<
"header: " << std::endl;
96 s <<
" " << v.height << std::endl;
98 s <<
" " << v.width << std::endl;
99 s <<
"fields[]" << std::endl;
100 for (std::size_t i = 0; i < v.fields.size (); ++i)
102 s <<
" fields[" << i <<
"]: ";
104 s <<
" " << v.fields[i] << std::endl;
106 s <<
"is_bigendian: ";
107 s <<
" " << v.is_bigendian << std::endl;
109 s <<
" " << v.point_step << std::endl;
111 s <<
" " << v.row_step << std::endl;
112 s <<
"data[]" << std::endl;
113 for (std::size_t i = 0; i < v.data.size (); ++i)
115 s <<
" data[" << i <<
"]: ";
116 s <<
" " << v.data[i] << std::endl;
119 s <<
" " << v.is_dense << std::endl;