beluga_ros::PointCloud3< T, Strict > Class Template Reference

Thin wrapper type for 3D sensor_msgs/PointCloud2 messages with dense layouts. More...

#include <point_cloud.hpp>

Inheritance diagram for beluga_ros::PointCloud3< T, Strict >:

Collaboration diagram for beluga_ros::PointCloud3< T, Strict >:

Public Types
using	Scalar = T
	Expected PointCloud2 fields type.

Public Member Functions
	PointCloud3 (sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud, Sophus::SE3d origin=Sophus::SE3d())
const auto &	origin () const
	Get the point cloud frame origin in the filter frame.
auto	points () const
	Get cartesian points in the point cloud as a matrix.

Detailed Description

template<typename T, bool Strict = true>
class beluga_ros::PointCloud3< T, Strict >

Thin wrapper type for 3D sensor_msgs/PointCloud2 messages with dense layouts.

The layout of the point cloud message must include exactly three (3) fields: x, y, and z, all of the same floating point datatype, representing cartesian coordinates for 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.

Constructor & Destructor Documentation

PointCloud3()

template<typename T , bool Strict = true>

beluga_ros::PointCloud3< T, Strict >::PointCloud3 ( sensor_msgs::msg::PointCloud2::ConstSharedPtr  cloud, Sophus::SE3d  origin = Sophus::SE3d()  )

inlineexplicit

Constructor.

Parameters

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

Exceptions

std::invalid_argument

if cloud does not meet expectations.

---

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

• /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/point_cloud.hpp