point_cloud.hpp File Reference

Implementation of sensor_msgs/PointCloud2 wrapper type for messages with memory-aligned strides. More...

#include <range/v3/view/iota.hpp>
#include <beluga/sensor/data/point_cloud.hpp>
#include <beluga/views/take_evenly.hpp>
#include <beluga_ros/messages.hpp>
#include <sophus/se3.hpp>
#include <Eigen/Dense>
#include "beluga/eigen_compatibility.hpp"

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Classes
class	beluga_ros::PointCloud3< T >
	Thin wrapper type for 3D sensor_msgs/PointCloud2 messages. More...

Namespaces
	beluga_ros
	The main Beluga ROS namespace.

Detailed Description

Implementation of sensor_msgs/PointCloud2 wrapper type for messages with memory-aligned strides.

The stride calculation ensures that the memory layout of the point cloud data is aligned with the size of the data type used for iteration (iteratorType). To maintain proper memory alignment, the stride must satisfy the condition:

cloud_->point_step % sizeof(iteratorType) == 0

This condition guarantees that point_step is a multiple of the size of the iteratorType, ensuring efficient access to each point in the cloud.