EduArt Sensor Ring Library 4.0.0
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DepthMeasurement.hpp
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1// Copyright (c) 2026 EduArt Robotik GmbH
2
9
10#pragma once
11
12#include <chrono>
13#include <vector>
14
15#include "sensorring/measurement/Header.hpp"
16#include "sensorring/measurement/PointCloud.hpp"
17#include "sensorring/platform/SensorringExport.hpp"
18
19namespace eduart {
20
21namespace sensorring {
22
23namespace measurement {
24
32struct SENSORRING_EXPORT DepthMeasurement {
33
35 Header header;
36
38 unsigned int nr_valid_points = 0;
39
41 unsigned int resolution_x = 0;
42
44 unsigned int resolution_y = 0;
45
47 PointCloud point_cloud;
48
53 inline PointCloud transformToGlobalFrame() const { return PointCloud::transform(point_cloud, header.position, header.orientation); }
54};
55
56} // namespace measurement
57
58} // namespace sensorring
59
60} // namespace eduart
Header.hpp
Universal header for all measurements.
PointCloud.hpp
Generic point and point cloud types.
eduart::sensorring::measurement::DepthMeasurement
Pure data structure holding a measurement from a depth sensor.
Definition DepthMeasurement.hpp:32
eduart::sensorring::measurement::DepthMeasurement::nr_valid_points
unsigned int nr_valid_points
Number of valid points in this measurement.
Definition DepthMeasurement.hpp:38
eduart::sensorring::measurement::DepthMeasurement::transformToGlobalFrame
PointCloud transformToGlobalFrame() const
Transform the point cloud from the sensor's local frame to the ring's global frame.
Definition DepthMeasurement.hpp:53
eduart::sensorring::measurement::DepthMeasurement::resolution_y
unsigned int resolution_y
Resolution of the depth sensor in y direction. Part of the DepthMeasurement as the PointCloud itself ...
Definition DepthMeasurement.hpp:44
eduart::sensorring::measurement::DepthMeasurement::resolution_x
unsigned int resolution_x
Resolution of the depth sensor in x direction. Part of the DepthMeasurement as the PointCloud itself ...
Definition DepthMeasurement.hpp:41
eduart::sensorring::measurement::DepthMeasurement::header
Header header
Measurement header.
Definition DepthMeasurement.hpp:35
eduart::sensorring::measurement::DepthMeasurement::point_cloud
PointCloud point_cloud
Point cloud in the sensor's local coordinate frame.
Definition DepthMeasurement.hpp:47
eduart::sensorring::measurement::Header
Universal header attached to every sensor measurement.
Definition Header.hpp:32
eduart::sensorring::measurement::PointCloud
Stores a vector of points in 3D space.
Definition PointCloud.hpp:45
eduart::sensorring::measurement::PointCloud::transform
static PointCloud transform(const PointCloud &cloud, const math::Vector3 translation, const math::Vector3 rotation)
Transforms a point cloud using a rotation matrix and a translation vector.