MRPT  1.9.9
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mrpt::obs::CObservationVelodyneScan::TPointCloud Struct Reference

Detailed Description

See point_cloud and scan_packets.

Definition at line 231 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions

std::size_t size () const
 
void reserve (std::size_t n)
 
void clear ()
 Sets all vectors to zero length. More...
 
void clear_deep ()
 Like clear(), but also enforcing freeing memory. More...
 

Public Attributes

std::vector< float > x
 
std::vector< float > y
 
std::vector< float > z
 
std::vector< uint8_t > intensity
 Color [0,255]. More...
 
std::vector< mrpt::system::TTimeStamptimestamp
 Timestamp for each point (if generatePerPointTimestamp=true in TGeneratePointCloudParameters), or empty vector if not populated (default). More...
 
std::vector< float > azimuth
 Original azimuth of each point (if generatePerPointAzimuth=true, empty otherwise ) More...
 
std::vector< int16_t > laser_id
 Laser ID ("ring number") for each point (0-15 for a VLP-16, etc.) More...
 
std::vector< std::vector< uint64_t > > pointsForLaserID
 The list of point indices (in x,y,z,...) generated for each laserID (ring number). More...
 

Member Function Documentation

◆ clear()

void Velo::TPointCloud::clear ( )

Sets all vectors to zero length.

Definition at line 564 of file CObservationVelodyneScan.cpp.

References mrpt::obs::gnss::azimuth.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

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◆ clear_deep()

void Velo::TPointCloud::clear_deep ( )

Like clear(), but also enforcing freeing memory.

Definition at line 575 of file CObservationVelodyneScan.cpp.

References mrpt::obs::gnss::azimuth, and mrpt::containers::deep_clear().

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◆ reserve()

void Velo::TPointCloud::reserve ( std::size_t  n)

Definition at line 589 of file CObservationVelodyneScan.cpp.

References mrpt::obs::gnss::azimuth.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

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◆ size()

std::size_t mrpt::obs::CObservationVelodyneScan::TPointCloud::size ( ) const
inline

Definition at line 250 of file CObservationVelodyneScan.h.

References x.

Referenced by mrpt::maps::CPointsMap::loadFromVelodyneScan().

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Member Data Documentation

◆ azimuth

std::vector<float> mrpt::obs::CObservationVelodyneScan::TPointCloud::azimuth

Original azimuth of each point (if generatePerPointAzimuth=true, empty otherwise )

Definition at line 242 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ intensity

std::vector<uint8_t> mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity

◆ laser_id

std::vector<int16_t> mrpt::obs::CObservationVelodyneScan::TPointCloud::laser_id

Laser ID ("ring number") for each point (0-15 for a VLP-16, etc.)

Definition at line 244 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ pointsForLaserID

std::vector<std::vector<uint64_t> > mrpt::obs::CObservationVelodyneScan::TPointCloud::pointsForLaserID

The list of point indices (in x,y,z,...) generated for each laserID (ring number).

Generated only if generatePointsForLaserID=true in TGeneratePointCloudParameters

Definition at line 248 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ timestamp

std::vector<mrpt::system::TTimeStamp> mrpt::obs::CObservationVelodyneScan::TPointCloud::timestamp

Timestamp for each point (if generatePerPointTimestamp=true in TGeneratePointCloudParameters), or empty vector if not populated (default).

Definition at line 239 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ x

std::vector<float> mrpt::obs::CObservationVelodyneScan::TPointCloud::x

◆ y

std::vector<float> mrpt::obs::CObservationVelodyneScan::TPointCloud::y

◆ z

std::vector<float> mrpt::obs::CObservationVelodyneScan::TPointCloud::z



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