File point_cloud.hpp

Core API objects - point cloud.

template<typename T>
struct TypeTraits<T, typename enable_if_is_base_of<PointCloudInterface, T>::type>

#include <point_cloud.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::PointCloud

namespace slamcore

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Client-library related getter methods

Get information about the client library

class PointCloudInterface : public MeasurementPoint<camera_clock>

#include <point_cloud.hpp>

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.

template<typename T> type >

#include <point_cloud.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::PointCloud