PointCloud2D contains a cloud of 2D points, usually laser points. See also pilot.LaserPointCloud.

Inherits from pilot.Sample.


string sensor

Original sensor coordinate frame. (also name of sensor)

sensor_2d_range_t field

Field of view of the sensor, relative to its own coordinate system, see pilot.sensor_2d_range_t.

Transform3D *base_to_odom

Transformation from base_link to odom frame at the time of this scan.

Transform3D *sensor_to_base

Transformation from sensor to base_link frame.

vector<Vector2d> points

List of 2D (x, y) points [meters], in frame coordinates, see pilot.Sample.