PCLHeader 类型介绍
源码:
namespace pcl
{
struct PCLHeader
{
PCLHeader (): seq (0), stamp (), frame_id ()
{}
/** \brief Sequence number */
pcl::uint32_t seq;
/** \brief A timestamp associated with the time when the data was acquired
*
* The value represents microseconds since 1970-01-01 00:00:00 (the UNIX epoch).
*/
pcl::uint64_t stamp;
/** \brief Coordinate frame ID */
std::string frame_id;
typedef boost::shared_ptr<PCLHeader> Ptr;
typedef boost::shared_ptr<PCLHeader const> ConstPtr;
}; // struct PCLHeader
typedef boost::shared_ptr<PCLHeader> HeaderPtr;
typedef boost::shared_ptr<PCLHeader const> HeaderConstPtr;
inline std::ostream& operator << (std::ostream& out, const PCLHeader &h)
{
out << "seq: " << h.seq;
out << " stamp: " << h.stamp;
out << " frame_id: " << h.frame_id << std::endl;
return (out);
}
inline bool operator== (const PCLHeader &lhs, const PCLHeader &rhs)
{
return (&lhs == &rhs) ||
(lhs.seq == rhs.seq && lhs.stamp == rhs.stamp && lhs.frame_id == rhs.frame_id);
}
} // namespace pcl
PCLHeader 为一个结构体,主要包含三个成员变量:
seq
:序列长度stamp
:获取点云时的时刻,相对于(1970-01-01 00:00:00)frame_id
:坐标系的名称
主要应用于 ROS,了解 ROS 的朋友们应该很熟悉这三个属性了。