PointCloud.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <vector>
 
#include "sensorring/math/Math.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace measurement {

struct SENSORRING_EXPORT PointData {
  math::Vector3 point = { 0.0, 0.0, 0.0 };

  double raw_distance = 0.0;

  double sigma = 0.0;

  unsigned int sensor_index = 0;
};

struct SENSORRING_EXPORT PointCloud {
  std::vector<PointData> data;

  void copyTo(double* buffer, int size);

  static PointCloud combine(const std::vector<PointCloud>& clouds);

  static PointCloud transform(const PointCloud& cloud, const math::Vector3 translation, const math::Vector3 rotation);

  static PointCloud transform(const PointCloud& cloud, const math::Vector3 translation, const math::Matrix3 rotation);
};
 
} // namespace measurement
 
} // namespace sensorring
 
} // namespace eduart