eduart::sensorring::measurement::DepthMeasurement Struct Reference

Pure data structure holding a measurement from a depth sensor. More...

#include <DepthMeasurement.hpp>

Collaboration diagram for eduart::sensorring::measurement::DepthMeasurement:

Public Member Functions
PointCloud	transformToGlobalFrame () const
	Transform the point cloud from the sensor's local frame to the ring's global frame.

Public Attributes
Header	header
	Measurement header.
unsigned int	nr_valid_points = 0
	Number of valid points in this measurement.
unsigned int	resolution_x = 0
	Resolution of the depth sensor in x direction. Part of the DepthMeasurement as the PointCloud itself may be unstructured.
unsigned int	resolution_y = 0
	Resolution of the depth sensor in y direction. Part of the DepthMeasurement as the PointCloud itself may be unstructured.
PointCloud	point_cloud
	Point cloud in the sensor's local coordinate frame.

Detailed Description

Pure data structure holding a measurement from a depth sensor.

Delivered to subscribers via DepthSensor::subscribe(). Contains both the raw (sensor-frame) and transformed (ring-frame) point clouds.

Member Function Documentation

transformToGlobalFrame()

PointCloud eduart::sensorring::measurement::DepthMeasurement::transformToGlobalFrame ( ) const

inline

Transform the point cloud from the sensor's local frame to the ring's global frame.

Returns

A new PointCloud with all points expressed in the global coordinate frame.

---

The documentation for this struct was generated from the following file:

• DepthMeasurement.hpp