Pointcloud.hpp

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#ifndef BASE_POINTCLOUD_HPP
#define BASE_POINTCLOUD_HPP

#include <vector>
#include <base/Time.hpp>
#include <base/Point.hpp>

namespace base {

  typedef base::Vector3d    Point;

  namespace samples {
  struct Pointcloud
  {
    Time time;

    std::vector<base::Point> points;
    
    /*
    * Colors of each point if available,
    * leave empty if points are uncolored.
    * Otherwise, it should have the same size
    * as the points vector.
    */
    std::vector<base::Vector4d> colors;
  };


}}


#endif