EduArt Sensor Ring Library 3.0.0
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PointCloud.hpp
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1// Copyright (c) 2026 EduArt Robotik GmbH
2
9
10#pragma once
11
12#include <vector>
13
14#include "sensorring/math/Math.hpp"
15#include "sensorring/platform/SensorringExport.hpp"
16
17namespace eduart {
18
19namespace measurement {
20
25struct SENSORRING_EXPORT PointData {
27 math::Vector3 point = { 0.0, 0.0, 0.0 };
28
30 double raw_distance = 0.0;
31
33 double sigma = 0.0;
34
36 unsigned int user_idx = 0;
37};
38
43struct SENSORRING_EXPORT PointCloud {
45 std::vector<PointData> data;
46
52 void copyTo(double* buffer, int size);
53};
54
55} // namespace measurement
56
57} // namespace eduart
Math.hpp
Collection of math functions.
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::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::user_idx
unsigned int user_idx
User assigned index of the sensor that measured the point.
Definition PointCloud.hpp:36
eduart::measurement::PointData::point
math::Vector3 point
Cartesian coordinates of the point.
Definition PointCloud.hpp:27