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PointCloudSample Interface Reference

PointCloudSample message sends data in point cloud format. More...

import "PointCloudSample.idl";

Inheritance diagram for PointCloudSample:
Collaboration diagram for PointCloudSample:

List of all members.

Public Attributes

public Vec3d origin
 Origin of points (i.e., offset from frame 0,0,0 in meters).
public Vec3d xyzScale
 Per-element scale factor to convert point units to a meaningful value.
public PointSampleSequence points
 Sequence of points.
public ShortSequence rowLengths
 Descriptions of rows from the same scan-line.

Detailed Description


Member Data Documentation

public Vec3d origin

If all points belong to the same point cloud,

rowLengths.length() == 0 (or rowLengths.length()==1 && rowLengths[0] == samples.length() )

Otherwise,

SUM(rowLengths) == samples.length().

public Vec3d xyzScale

Following conversion, spatial coordinates should be in METERS and angular values should be in RADIANS.


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