# {py:mod}`ros_sugar.io.datatypes`

```{py:module} ros_sugar.io.datatypes
```

```{autodoc2-docstring} ros_sugar.io.datatypes
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`PointCloudData <ros_sugar.io.datatypes.PointCloudData>`
  - ```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData
    :summary:
    ```
* - {py:obj}`LaserScanData <ros_sugar.io.datatypes.LaserScanData>`
  - ```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData
    :summary:
    ```
* - {py:obj}`CameraIntrinsics <ros_sugar.io.datatypes.CameraIntrinsics>`
  - ```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics
    :summary:
    ```
````

### Functions

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`read_camera_info <ros_sugar.io.datatypes.read_camera_info>`
  - ```{autodoc2-docstring} ros_sugar.io.datatypes.read_camera_info
    :summary:
    ```
````

### API

`````{py:class} PointCloudData
:canonical: ros_sugar.io.datatypes.PointCloudData

Bases: {py:obj}`ros_sugar.config.BaseAttrs`

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData
```

````{py:property} xyz
:canonical: ros_sugar.io.datatypes.PointCloudData.xyz
:type: typing.Optional[numpy.ndarray]

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.xyz
```

````

````{py:method} buffer_layout() -> typing.Dict[str, typing.Any]
:canonical: ros_sugar.io.datatypes.PointCloudData.buffer_layout

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.buffer_layout
```

````

````{py:method} filtered(translation: typing.Optional[typing.Sequence[float]] = None, rotation: typing.Optional[typing.Sequence[float]] = None, frame_id: typing.Optional[str] = None, min_z: typing.Optional[float] = None, max_z: typing.Optional[float] = None, discard_underground: bool = False, get_2d: bool = False) -> typing.Optional[ros_sugar.io.datatypes.PointCloudData]
:canonical: ros_sugar.io.datatypes.PointCloudData.filtered

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.filtered
```

````

````{py:method} asdict(filter: typing.Optional[typing.Callable] = None) -> typing.Dict
:canonical: ros_sugar.io.datatypes.PointCloudData.asdict

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.asdict
```

````

````{py:method} to_dict() -> typing.Dict
:canonical: ros_sugar.io.datatypes.PointCloudData.to_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.to_dict
```

````

````{py:method} asdict_explicit() -> typing.Dict
:canonical: ros_sugar.io.datatypes.PointCloudData.asdict_explicit

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.asdict_explicit
```

````

````{py:method} from_dict(dict_obj: typing.Dict) -> None
:canonical: ros_sugar.io.datatypes.PointCloudData.from_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.from_dict
```

````

````{py:method} from_file(file_path: str, nested_root_name: typing.Union[str, None] = None, get_common: bool = False) -> bool
:canonical: ros_sugar.io.datatypes.PointCloudData.from_file

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.from_file
```

````

````{py:method} to_json() -> typing.Union[str, bytes, bytearray]
:canonical: ros_sugar.io.datatypes.PointCloudData.to_json

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.to_json
```

````

````{py:method} from_json(json_obj: typing.Union[str, bytes, bytearray]) -> None
:canonical: ros_sugar.io.datatypes.PointCloudData.from_json

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.from_json
```

````

````{py:method} has_attribute(attr_name: str) -> bool
:canonical: ros_sugar.io.datatypes.PointCloudData.has_attribute

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.has_attribute
```

````

````{py:method} get_attribute_type(attr_name: str) -> typing.Optional[type]
:canonical: ros_sugar.io.datatypes.PointCloudData.get_attribute_type

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.get_attribute_type
```

````

````{py:method} update_value(attr_name: str, attr_value: typing.Any) -> bool
:canonical: ros_sugar.io.datatypes.PointCloudData.update_value

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.update_value
```

````

````{py:method} get_fields_info(class_object) -> typing.Dict[str, typing.Dict[str, typing.Any]]
:canonical: ros_sugar.io.datatypes.PointCloudData.get_fields_info
:classmethod:

```{autodoc2-docstring} ros_sugar.io.datatypes.PointCloudData.get_fields_info
```

````

`````

`````{py:class} LaserScanData
:canonical: ros_sugar.io.datatypes.LaserScanData

Bases: {py:obj}`ros_sugar.config.BaseAttrs`

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData
```

````{py:method} get_ranges(right_angle: float, left_angle: float) -> numpy.ndarray
:canonical: ros_sugar.io.datatypes.LaserScanData.get_ranges

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.get_ranges
```

````

````{py:method} get_angles(right_angle: float, left_angle: float) -> numpy.ndarray
:canonical: ros_sugar.io.datatypes.LaserScanData.get_angles

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.get_angles
```

````

````{py:method} asdict(filter: typing.Optional[typing.Callable] = None) -> typing.Dict
:canonical: ros_sugar.io.datatypes.LaserScanData.asdict

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.asdict
```

````

````{py:method} to_dict() -> typing.Dict
:canonical: ros_sugar.io.datatypes.LaserScanData.to_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.to_dict
```

````

````{py:method} asdict_explicit() -> typing.Dict
:canonical: ros_sugar.io.datatypes.LaserScanData.asdict_explicit

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.asdict_explicit
```

````

````{py:method} from_dict(dict_obj: typing.Dict) -> None
:canonical: ros_sugar.io.datatypes.LaserScanData.from_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.from_dict
```

````

````{py:method} from_file(file_path: str, nested_root_name: typing.Union[str, None] = None, get_common: bool = False) -> bool
:canonical: ros_sugar.io.datatypes.LaserScanData.from_file

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.from_file
```

````

````{py:method} to_json() -> typing.Union[str, bytes, bytearray]
:canonical: ros_sugar.io.datatypes.LaserScanData.to_json

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.to_json
```

````

````{py:method} from_json(json_obj: typing.Union[str, bytes, bytearray]) -> None
:canonical: ros_sugar.io.datatypes.LaserScanData.from_json

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.from_json
```

````

````{py:method} has_attribute(attr_name: str) -> bool
:canonical: ros_sugar.io.datatypes.LaserScanData.has_attribute

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.has_attribute
```

````

````{py:method} get_attribute_type(attr_name: str) -> typing.Optional[type]
:canonical: ros_sugar.io.datatypes.LaserScanData.get_attribute_type

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.get_attribute_type
```

````

````{py:method} update_value(attr_name: str, attr_value: typing.Any) -> bool
:canonical: ros_sugar.io.datatypes.LaserScanData.update_value

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.update_value
```

````

````{py:method} get_fields_info(class_object) -> typing.Dict[str, typing.Dict[str, typing.Any]]
:canonical: ros_sugar.io.datatypes.LaserScanData.get_fields_info
:classmethod:

```{autodoc2-docstring} ros_sugar.io.datatypes.LaserScanData.get_fields_info
```

````

`````

`````{py:class} CameraIntrinsics
:canonical: ros_sugar.io.datatypes.CameraIntrinsics

Bases: {py:obj}`ros_sugar.config.BaseAttrs`

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics
```

````{py:property} matrix
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.matrix
:type: numpy.ndarray

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.matrix
```

````

````{py:property} focal_length
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.focal_length
:type: numpy.ndarray

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.focal_length
```

````

````{py:property} principal_point
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.principal_point
:type: numpy.ndarray

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.principal_point
```

````

````{py:method} matches(width: int, height: int) -> bool
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.matches

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.matches
```

````

````{py:method} asdict(filter: typing.Optional[typing.Callable] = None) -> typing.Dict
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.asdict

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.asdict
```

````

````{py:method} to_dict() -> typing.Dict
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.to_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.to_dict
```

````

````{py:method} asdict_explicit() -> typing.Dict
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.asdict_explicit

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.asdict_explicit
```

````

````{py:method} from_dict(dict_obj: typing.Dict) -> None
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.from_dict

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.from_dict
```

````

````{py:method} from_file(file_path: str, nested_root_name: typing.Union[str, None] = None, get_common: bool = False) -> bool
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.from_file

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.from_file
```

````

````{py:method} to_json() -> typing.Union[str, bytes, bytearray]
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.to_json

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.to_json
```

````

````{py:method} from_json(json_obj: typing.Union[str, bytes, bytearray]) -> None
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.from_json

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.from_json
```

````

````{py:method} has_attribute(attr_name: str) -> bool
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.has_attribute

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.has_attribute
```

````

````{py:method} get_attribute_type(attr_name: str) -> typing.Optional[type]
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.get_attribute_type

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.get_attribute_type
```

````

````{py:method} update_value(attr_name: str, attr_value: typing.Any) -> bool
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.update_value

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.update_value
```

````

````{py:method} get_fields_info(class_object) -> typing.Dict[str, typing.Dict[str, typing.Any]]
:canonical: ros_sugar.io.datatypes.CameraIntrinsics.get_fields_info
:classmethod:

```{autodoc2-docstring} ros_sugar.io.datatypes.CameraIntrinsics.get_fields_info
```

````

`````

````{py:function} read_camera_info(msg) -> ros_sugar.io.datatypes.CameraIntrinsics
:canonical: ros_sugar.io.datatypes.read_camera_info

```{autodoc2-docstring} ros_sugar.io.datatypes.read_camera_info
```
````