Standard point cloud class that holds only pointers to point attributes. More...

#include <point_cloud.hpp>

Inheritance diagram for gtsam_points::PointCloud:

[legend]

Public Types
using	Ptr = std::shared_ptr< PointCloud >

using	ConstPtr = std::shared_ptr< const PointCloud >

Public Member Functions
	PointCloud (const PointCloud &)=delete

PointCloud &	operator= (PointCloud const &)=delete

size_t	size () const
	Number of points.

bool	has_times () const
	Check if the point cloud has per-point timestamps.

bool	has_points () const
	Check if the point cloud has points.

bool	has_normals () const
	Check if the point cloud has point normals.

bool	has_covs () const
	Check if the point cloud has point covariances.

bool	has_intensities () const
	Check if the point cloud has point intensities.

bool	check_times () const
	Warn if the point cloud doesn't have times.

bool	check_points () const
	Warn if the point cloud doesn't have points.

bool	check_normals () const
	Warn if the point cloud doesn't have normals.

bool	check_covs () const
	Warn if the point cloud doesn't have covs.

bool	check_intensities () const
	Warn if the point cloud doesn't have intensities.

bool	has_times_gpu () const
	Check if the point cloud has per-point timestamps on GPU.

bool	has_points_gpu () const
	Check if the point cloud has points on GPU.

bool	has_normals_gpu () const
	Check if the point cloud has point normals on GPU.

bool	has_covs_gpu () const
	Check if the point cloud has point covariances on GPU.

bool	has_intensities_gpu () const
	Check if the point cloud has point intensities on GPU.

bool	check_times_gpu () const
	Warn if the point cloud doesn't have times on GPU.

bool	check_points_gpu () const
	Warn if the point cloud doesn't have points on GPU.

bool	check_normals_gpu () const
	Warn if the point cloud doesn't have normals on GPU.

bool	check_covs_gpu () const
	Warn if the point cloud doesn't have covs on GPU.

bool	check_intensities_gpu () const
	Warn if the point cloud doesn't have intensities on GPU.

template<typename T >
const T *	aux_attribute (const std::string &attrib) const
	Get the pointer to an aux attribute.

void	save (const std::string &path) const
	Save the point cloud data.

void	save_compact (const std::string &path) const
	Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates).

Public Attributes
size_t	num_points
	Number of points.

double *	times
	Per-point timestamp w.r.t. the first point (should be sorted)

Eigen::Vector4d *	points
	Point coordinates (x, y, z, 1)

Eigen::Vector4d *	normals
	Point normals (nx, ny, nz, 0)

Eigen::Matrix4d *	covs
	Point covariances cov(3, 3) = 0.

double *	intensities
	Point intensities.

std::unordered_map< std::string, std::pair< size_t, void * > >	aux_attributes
	Aux attributes <attribute_name, pair<element_size, data_ptr>>

float *	times_gpu
	Per-point timestamp on GPU.

Eigen::Vector3f *	points_gpu
	Point coordinates on GPU.

Eigen::Vector3f *	normals_gpu
	Point normals on GPU.

Eigen::Matrix3f *	covs_gpu
	Point covariances on GPU.

float *	intensities_gpu
	Point intensities on GPU.

Detailed Description

Standard point cloud class that holds only pointers to point attributes.

Note: If you don't want to manage the lifetime of point data by yourself, use gtsam_points::PointCloudCPU.

Member Function Documentation

◆ aux_attribute()

template<typename T >

const T * gtsam_points::PointCloud::aux_attribute ( const std::string & attrib ) const

inline

Get the pointer to an aux attribute.

Parameters

attrib Attribute name

Returns: Returns the pointer to it if the specified attribute exists. Otherwise, returns nullptr.

◆ save()

void gtsam_points::PointCloud::save ( const std::string & path ) const

Save the point cloud data.

Parameters

path	Destination path

◆ save_compact()

void gtsam_points::PointCloud::save_compact ( const std::string & path ) const

Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates).

Parameters

path

The documentation for this struct was generated from the following file:

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/point_cloud.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ aux_attribute()

◆ save()

◆ save_compact()