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remove version infos, use from instead of into

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stelzo 2023-07-25 21:55:13 +02:00
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commit d0fdbdb894
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README.md
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@ -2,11 +2,6 @@
Customizable conversions to and from the `sensor_msgs/PointCloud2` ROS message. Customizable conversions to and from the `sensor_msgs/PointCloud2` ROS message.
```toml
[dependencies]
ros_pointcloud2 = "0.2"
```
Providing a memory efficient way for message conversion while allowing user defined types without the cost of iterations. Providing a memory efficient way for message conversion while allowing user defined types without the cost of iterations.
Instead of converting the entire cloud into a `Vec`, you get an `Iterator` that converts each point from the message on the fly. Instead of converting the entire cloud into a `Vec`, you get an `Iterator` that converts each point from the message on the fly.
@ -86,13 +81,14 @@ impl From<YourROSPointCloud2> for PointCloud2Msg {
## Integrations ## Integrations
Currently, there is only 1 integration for the following ROS crate: There are currently 2 integrations for common ROS crates such as rosrust for ROS1 and R2R for ROS2 (Galactic).
- [rosrust](https://github.com/adnanademovic/rosrust) - [rosrust_msg](https://github.com/adnanademovic/rosrust)
- [r2r_msg](https://github.com/sequenceplanner/r2r)
You can use one by enabling the corresponding feature. You can use them by enabling the corresponding feature. Example:
```toml ```toml
[dependencies] [dependencies]
ros_pointcloud2 = { version = "0.2", features = ["rosrust_msg"]} ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
``` ```
Please open an issue or PR if you want to see support for other crates. Please open an issue or PR if you want to see support for other crates.
@ -117,7 +113,7 @@ Please open an issue or PR if you want to see support for other crates.
You can freely convert to your own point types without reiterating the entire cloud. You can freely convert to your own point types without reiterating the entire cloud.
You just need to implement the `Into` and `From` traits. You just need to implement some traits.
```rust ```rust
use ros_pointcloud2::mem_macros::size_of; use ros_pointcloud2::mem_macros::size_of;
use ros_pointcloud2::ros_types::PointCloud2Msg; use ros_pointcloud2::ros_types::PointCloud2Msg;
@ -138,15 +134,15 @@ struct CustomPoint {
} }
// Converting your custom point to the crate's internal representation // Converting your custom point to the crate's internal representation
impl Into<([f32; DIM], [PointMeta; METADIM])> for CustomPoint { impl From<CustomPoint> for ([f32; DIM], [PointMeta; METADIM]) {
fn into(self) -> ([f32; DIM], [PointMeta; METADIM]) { fn from(point: CustomPoint) -> Self {
( (
[self.x, self.y, self.z], [point.x, point.y, point.z],
[ [
PointMeta::new(self.r), PointMeta::new(point.r),
PointMeta::new(self.g), PointMeta::new(point.g),
PointMeta::new(self.b), PointMeta::new(point.b),
PointMeta::new(self.a), PointMeta::new(point.a),
], ],
) )
} }