beluga_ros::SparsePointCloud3< T > Class Template Reference

#include <sparse_point_cloud.hpp>

Inheritance diagram for beluga_ros::SparsePointCloud3< T >:

Collaboration diagram for beluga_ros::SparsePointCloud3< T >:

Public Types
using	Scalar = T
	PointCloud type.

Public Member Functions
	SparsePointCloud3 (beluga_ros::msg::PointCloud2ConstSharedPtr cloud, Sophus::SE3d origin=Sophus::SE3d())
	Check type is float or double. More...
const auto &	origin () const
	Get the point cloud frame origin in the filter frame.
auto	points () const
	Get the unorganized 3D point collection as an Eigen Map<Eigen::Vector3>.

Detailed Description

template<typename T>
class beluga_ros::SparsePointCloud3< T >

Thin wrapper type for 3D sensor_msgs/PointCloud2 messages. Assumes an XYZ... type message. XYZ datafields must be the same type (float or double). Other datafields can be different types.

Constructor & Destructor Documentation

SparsePointCloud3()

template<typename T >

beluga_ros::SparsePointCloud3< T >::SparsePointCloud3 ( beluga_ros::msg::PointCloud2ConstSharedPtr  cloud, Sophus::SE3d  origin = Sophus::SE3d()  )

inlineexplicit

Check type is float or double.

Constructor.

Parameters

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

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

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