Struct CObservationVelodyneScan::PointCloudStorageWrapper

Nested Relationships

This struct is a nested type of Class CObservationVelodyneScan.

Struct Documentation

struct PointCloudStorageWrapper

Derive from this class to generate pointclouds into custom containers.

See also

generatePointCloud()

Public Functions

virtual ~PointCloudStorageWrapper() = default
inline virtual void reserve([[maybe_unused]] std::size_t n)
inline virtual void resizeLaserCount([[maybe_unused]] 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

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