PointCloud2Subscriber QML Type

Subscribes to sensor_msgs::msg::PointCloud2 messages — 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. More...

• List of all members, including inherited members

Properties

• data : ArrayBuffer
• fields : list<pointField>
• header : header
• height : uint32_t
• isBigendian : bool
• isDense : bool
• message : pointCloud2
• pointStep : uint32_t
• rowStep : uint32_t
• width : uint32_t

Signals

• messageReceived(pointCloud2 msg)

Detailed Description

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.

PointCloud2Subscriber receives pointCloud2 values from a ROS 2 topic. Set the topic and node properties, then connect to the messageReceived() signal.

See also PointCloud2Publisher and pointCloud2.

Property Documentation

data : ArrayBuffer

The data field of the last received message. Updated whenever a new message arrives. dataChanged is emitted on every update.

fields : list<pointField>

The fields field of the last received message. Updated whenever a new message arrives. fieldsChanged is emitted on every update.

header : header

The header field of the last received message. Updated whenever a new message arrives. headerChanged is emitted on every update.

height : uint32_t

The height field of the last received message. Updated whenever a new message arrives. heightChanged is emitted on every update.

isBigendian : bool

The isBigendian field of the last received message. Updated whenever a new message arrives. isBigendianChanged is emitted on every update.

isDense : bool

The isDense field of the last received message. Updated whenever a new message arrives. isDenseChanged is emitted on every update.

message : pointCloud2

The last message received on topic. Updated whenever a new message arrives.

pointStep : uint32_t

The pointStep field of the last received message. Updated whenever a new message arrives. pointStepChanged is emitted on every update.

rowStep : uint32_t

The rowStep field of the last received message. Updated whenever a new message arrives. rowStepChanged is emitted on every update.

width : uint32_t

The width field of the last received message. Updated whenever a new message arrives. widthChanged is emitted on every update.

Signal Documentation

messageReceived(pointCloud2 msg)

Emitted when a new pointCloud2 arrives on topic. msg contains the received value.