Struct PointCloud

Struct Documentation

struct PointCloud

A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.

Public Functions

FoxgloveError encode(uint8_t *ptr, size_t len, size_t *encoded_len)

Encoded the PointCloud as protobuf to the provided buffer.

On success, writes the serialized length to *encoded_len. If the provided buffer has insufficient capacity, writes the required capacity to *encoded_len and returns FoxgloveError::BufferTooShort. If the message cannot be encoded, writes the reason to stderr and returns FoxgloveError::EncodeError.

Parameters:

  • ptr – the destination buffer. must point to at least len valid bytes.

  • len – the length of the destination buffer.

  • encoded_len – where the serialized length or required capacity will be written to.

Public Members

std::optional<Timestamp> timestamp

Timestamp of point cloud.

std::string frame_id

Frame of reference.

std::optional<Pose> pose

The origin of the point cloud relative to the frame of reference.

uint32_t point_stride = 0

Number of bytes between points in the data

std::vector<PackedElementField> fields

Fields in data. At least 2 coordinate fields from x, y, and z are required for each point’s position; red, green, blue, and alpha are optional for customizing each point’s color.

std::vector<std::byte> data

Point data, interpreted using fields

Public Static Functions

static Schema schema()

Get the PointCloud schema.

The schema data returned is statically allocated.