Struct PointCloud

Struct Documentation

struct resources::PointCloud

Public Functions

inline void applyTransformation(const aslam::Transformation &T_A_B)
inline void resize(const size_t size, const bool has_normals = true, const bool has_colors = true, const bool has_scalars = true, const bool has_labels = true)
inline size_t size() const
inline bool empty() const
inline bool hasNormals() const
inline bool hasColor() const
inline bool hasScalars() const
inline bool hasLabels() const
inline bool checkConsistency(const bool verbose = false) const
inline void append(const PointCloud &other)
inline void appendTransformed(const PointCloud &other, const aslam::Transformation &T_A_B)
inline void removeInvalidPoints()
inline bool operator==(const PointCloud &other) const
inline void writeToFile(const std::string &file_path) const
inline bool loadFromFile(const std::string &file_path)
inline bool colorizePointCloud(const size_t start_point_idx, const size_t end_point_idx, const uint8_t r, const uint8_t g, const uint8_t b)
inline bool colorizePointCloud(const uint8_t r, const uint8_t g, const uint8_t b)

Public Members

std::vector<float> xyz
std::vector<float> normals
std::vector<unsigned char> colors
std::vector<float> scalars
std::vector<uint32_t> labels