Struct CObservationVelodyneScan::TPointCloud

Nested Relationships

This struct is a nested type of Class CObservationVelodyneScan.

Struct Documentation

struct TPointCloud

See point_cloud and scan_packets

Public Functions

inline std::size_t size() const
void reserve(std::size_t n)
void clear()

Sets all vectors to zero length

void clear_deep()

Like clear(), but also enforcing freeing memory

Public Members

std::vector<float> x
std::vector<float> y
std::vector<float> z
std::vector<uint8_t> intensity

Color [0,255]

std::vector<mrpt::system::TTimeStamp> timestamp

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

std::vector<float> azimuth

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

std::vector<int16_t> laser_id

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

std::vector<std::vector<uint64_t>> pointsForLaserID

The list of point indices (in x,y,z,…) generated for each laserID (ring number). Generated only if generatePointsForLaserID=true in TGeneratePointCloudParameters