struct mrpt::obs::CObservationVelodyneScan::PointCloudStorageWrapper
Overview
Derive from this class to generate pointclouds into custom containers.
See also:
#include <mrpt/obs/CObservationVelodyneScan.h> struct PointCloudStorageWrapper { // methods virtual void reserve(std::size_t n); virtual void resizeLaserCount(] std::size_t n); virtual void add_point( float pt_x, float pt_y, float pt_z, uint8_t pt_intensity, const mrpt::system::TTimeStamp& tim, const float azimuth, uint16_t laser_id ) = 0; };
Methods
virtual void add_point( float pt_x, float pt_y, float pt_z, uint8_t pt_intensity, const mrpt::system::TTimeStamp& tim, const float azimuth, uint16_t laser_id ) = 0
Process the insertion of a new (x,y,z) point to the cloud, in sensor-centric coordinates, with the exact timestamp of that LIDAR ray.