Class slamcore::PointCloudInterface

class slamcore::PointCloudInterface : public ObjectInterface, public virtual MeasurementPointInterface<camera_clock>

Interface to point cloud data. A point cloud is a linear list of 3D points. The reference coordinate frame of the point cloud is specified via the measurement point interface getReferenceFrame().

Public Types

using Ptr = std::shared_ptr<PointCloudInterface>
using CPtr = std::shared_ptr<const PointCloudInterface>
using MeasurementPointT = MeasurementPointInterface<camera_clock>

Public Functions

inline virtual ObjectType type() const

Type of the object.

virtual ~PointCloudInterface() = default
inline struct __attribute__ ((__packed__)) Point
virtual std::size_t size() const = 0

Returns the number of points in the point cloud.

virtual const Point *positions() const = 0

Read-only access to the list of point xyz coordinates.