raw_points.hpp

#pragma once
 
#include <memory>
#include <vector>
#include <Eigen/Core>
 
namespace glim {
 
struct RawPoints {
public:
  using Ptr = std::shared_ptr<RawPoints>;
  using ConstPtr = std::shared_ptr<const RawPoints>;
 
  int size() const { return points.size(); }
 
public:
  double stamp;                         
  std::vector<double> times;            
  std::vector<double> intensities;      
  std::vector<Eigen::Vector4d> points;  
  std::vector<Eigen::Vector4d> colors;  
  std::vector<uint32_t> rings;          
};
 
}  // namespace glim