edu_lib_sensorring/PointCloud_8hpp_source.html

// Copyright (c) 2025 EduArt Robotik GmbH


#pragma once


#include <vector>


#include "sensorring/math/Math.hpp"

#include "sensorring/platform/SensorringExport.hpp"


namespace eduart {


namespace measurement {


struct SENSORRING_API PointData {

  math::Vector3 point = { 0.0, 0.0, 0.0 };


  double raw_distance = 0.0;


  double sigma        = 0.0;


  int user_idx        = 0;

};


struct SENSORRING_API PointCloud {

  std::vector<PointData> data;


  void copyTo(double* buffer, int size);

};


} // namespace measurement


} // namespace eduart

Math.hpp
Collection of math functions.

SensorringExport.hpp
Control the import and export of Windows DLL symbols.

eduart::math::Vector3
Vector of length 3.
Definition Vector3.hpp:25

eduart::measurement::PointCloud
Stores a vector of points in 3D space.
Definition PointCloud.hpp:43

eduart::measurement::PointCloud::copyTo
void copyTo(double *buffer, int size)
Copies the point cloud to a double buffer.

eduart::measurement::PointCloud::data
std::vector< PointData > data
Data structure of the PointCloud.
Definition PointCloud.hpp:45

eduart::measurement::PointData
Stores the data of a single point in 3d space.
Definition PointCloud.hpp:25

eduart::measurement::PointData::user_idx
int user_idx
User assigned index of the sensor that measured the point.
Definition PointCloud.hpp:36

eduart::measurement::PointData::raw_distance
double raw_distance
Raw distance from the origin to the point.
Definition PointCloud.hpp:30

eduart::measurement::PointData::sigma
double sigma
Standard deviation associated with the points location.
Definition PointCloud.hpp:33

eduart::measurement::PointData::point
math::Vector3 point
Cartesian coordinates of the point.
Definition PointCloud.hpp:27