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.