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::TTimeStamp >	timestamp
	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 561 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 572 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 586 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

Color [0,255].

Definition at line 235 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().

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

Definition at line 233 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), and size().

y

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

Definition at line 233 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().

z

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

Definition at line 233 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().