small_gicp::PointCloud Struct Reference

Point cloud. More...

#include <point_cloud.hpp>

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

Public Member Functions
	PointCloud ()
	Constructor. More...
template<typename T , int D, typename Allocator >
	PointCloud (const std::vector< Eigen::Matrix< T, D, 1 >, Allocator > &points)
	Constructor. More...
	~PointCloud ()
	Destructor. More...
size_t	size () const
	Number of points. More...
bool	empty () const
	Check if the point cloud is empty. More...
void	resize (size_t n)
	Resize point/normal/cov buffers. More...
Eigen::Vector4d &	point (size_t i)
	Get i-th point. More...
Eigen::Vector4d &	normal (size_t i)
	Get i-th normal. More...
Eigen::Matrix4d &	cov (size_t i)
	Get i-th covariance. More...
const Eigen::Vector4d &	point (size_t i) const
	Get i-th point (const). More...
const Eigen::Vector4d &	normal (size_t i) const
	Get i-th normal (const). More...
const Eigen::Matrix4d &	cov (size_t i) const
	Get i-th covariance (const). More...

Public Attributes
std::vector< Eigen::Vector4d >	points
	Point coordinates (x, y, z, 1) More...
std::vector< Eigen::Vector4d >	normals
	Point normals (nx, ny, nz, 0) More...
std::vector< Eigen::Matrix4d >	covs
	Point covariances (3x3 matrix) + zero padding. More...

Detailed Description

Point cloud.

Member Typedef Documentation

ConstPtr

using small_gicp::PointCloud::ConstPtr = std::shared_ptr<const PointCloud>

Ptr

using small_gicp::PointCloud::Ptr = std::shared_ptr<PointCloud>

Constructor & Destructor Documentation

PointCloud() [1/2]

small_gicp::PointCloud::PointCloud ( )

inline

Constructor.

PointCloud() [2/2]

template<typename T , int D, typename Allocator >

small_gicp::PointCloud::PointCloud ( const std::vector< Eigen::Matrix< T, D, 1 >, Allocator > &  points )

inlineexplicit

Constructor.

Parameters

points

Points to initialize the point cloud

~PointCloud()

small_gicp::PointCloud::~PointCloud ( )

inline

Destructor.

Member Function Documentation

cov() [1/2]

Eigen::Matrix4d& small_gicp::PointCloud::cov ( size_t  i )

inline

Get i-th covariance.

cov() [2/2]

const Eigen::Matrix4d& small_gicp::PointCloud::cov ( size_t  i ) const

inline

Get i-th covariance (const).

empty()

bool small_gicp::PointCloud::empty ( ) const

inline

Check if the point cloud is empty.

normal() [1/2]

Eigen::Vector4d& small_gicp::PointCloud::normal ( size_t  i )

inline

Get i-th normal.

normal() [2/2]

const Eigen::Vector4d& small_gicp::PointCloud::normal ( size_t  i ) const

inline

Get i-th normal (const).

point() [1/2]

Eigen::Vector4d& small_gicp::PointCloud::point ( size_t  i )

inline

Get i-th point.

point() [2/2]

const Eigen::Vector4d& small_gicp::PointCloud::point ( size_t  i ) const

inline

Get i-th point (const).

resize()

void small_gicp::PointCloud::resize ( size_t  n )

inline

Resize point/normal/cov buffers.

Parameters

n	Number of points

size()

size_t small_gicp::PointCloud::size ( ) const

inline

Number of points.

Member Data Documentation

covs

std::vector<Eigen::Matrix4d> small_gicp::PointCloud::covs

Point covariances (3x3 matrix) + zero padding.

normals

std::vector<Eigen::Vector4d> small_gicp::PointCloud::normals

Point normals (nx, ny, nz, 0)

points

std::vector<Eigen::Vector4d> small_gicp::PointCloud::points

Point coordinates (x, y, z, 1)

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

• /home/runner/work/small_gicp/small_gicp/include/small_gicp/points/point_cloud.hpp