Template Class SparsePointCloud3

Defined in File sparse_point_cloud.hpp

Inheritance Relationships

Base Type

public beluga::BaseSparsePointCloud< SparsePointCloud3< T > >

Class Documentation

template<typename T, bool Strict = true> class SparsePointCloud3 : public beluga::BaseSparsePointCloud<SparsePointCloud3<T>>

Thin wrapper for 3D sensor_msgs/PointCloud2 messages with potentially sparse layouts.

The layout of the point cloud message is only required to include at least three (3) fields: x, y, and z, all of the same floating point datatype, representing cartesian coordinates for each point. These fields must be at the beginning of each point.

Template Parameters:

T – Scalar type for point coordinates. Must be floating point.
Strict – If true, xyz fields’ datatypes must match the expected scalar type or the wrapper will throw on construction. If false, the wrapper will cast as necessary.

Public Types

using Scalar = T : Expected PointCloud2 fields type.

Public Functions

inline explicit SparsePointCloud3(beluga_ros::msg::PointCloud2ConstSharedPtr cloud, Sophus::SE3d origin = Sophus::SE3d())

Constructor.

Parameters:

cloud – Point cloud message.
origin – Point cloud frame origin in the filter frame.

Throws:

std::invalid_argument – if cloud does not meet expectations.

inline std::size_t size() const: Get the point cloud size.

inline const auto &origin() const: Get the point cloud frame origin in the filter frame.

inline auto points() const: Get the range of cartesian points in the point cloud.