iLab Neuromorphic Robotics Toolkit  0.1
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PointCloud Class and Related Classes and Functions

The NRT PointCloud class provides a powerful class for processing point cloud data. Point clouds store 3D geometrical data and have the capability of associating any other arbitrary data with geometrical points in either a dense or sparse manner. PointCloud uses a copy-on-write, ref-counting memory policy which means that passing clouds is inexpensive.

Classes

class  nrt::PointCloud2
 A class for representing point clouds. More...
 
class  nrt::PointCloud2Data< Types >
 A container for holding the data associated with a point cloud point. More...
 
class  nrt::PointSSE< T >
 An SSE capable point class for representing geometry. More...
 

Modules

 Common Operations and Functionality
 

Typedefs

template<class... Types>
using nrt::PointCloud2DataRef = PointCloud2DataRefBase< false, Types...>
 A container for holding references to the data associated with a point cloud point. More...
 
template<class... Types>
using nrt::PointCloud2ConstDataRef = PointCloud2DataRefBase< true, Types...>
 A container for holding constant references to the data associated with a point cloud point. More...
 

Typedef Documentation

template<class... Types>
using nrt::PointCloud2DataRef = typedef PointCloud2DataRefBase<false, Types...>

A container for holding references to the data associated with a point cloud point.

Point cloud points can contain arbitrary data types in addition to their geometric coordinate representation.

Accessing geometry is available through the geometry() functionality whereas all other data that may be held is handled through the get() functionality inherited from StreamableGenericBag.

Note that any and all data held by a reference point will exist elsewhere, usually inside of an actual point cloud. This data type will most often be encountered when querying a cloud for data.

See PointCloud2DataRefBase for implementation and interface details.

Template Parameters
TypesThe various types that can be represented by this data. Geometry is always included regardless of types specified. Types follow the rules for GenericBag (i.e.: they must be distinct using std::is_same on the decayed types)

Definition at line 148 of file PointCloud2Data.H.

template<class... Types>
using nrt::PointCloud2ConstDataRef = typedef PointCloud2DataRefBase<true, Types...>

A container for holding constant references to the data associated with a point cloud point.

See PointCloud2DataRef for details. This version only holds constant references

Definition at line 154 of file PointCloud2Data.H.