Class slamcore::PointCloudInterface

class PointCloudInterface : public MeasurementPoint<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 = MeasurementPoint<camera_clock>

using Point = Vector<float, 3>

Public Functions

virtual ~PointCloudInterface() = default

virtual std::size_t size() const = 0

Returns the number of points in the point cloud.

virtual bool empty() const = 0

Returns whether the point cloud is empty.

virtual const Point *positions() const = 0

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