Function slam_mer::utils::write_ply_binary(const std::string&, const std::vector<std::array<float, 3>>&, const std::vector<uint32_t> *const, bool)

• Defined in File ply_writer.hpp

Function Documentation

void slam_mer::utils::write_ply_binary(const std::string &filename_, const std::vector<std::array<float, 3>> &points_, const std::vector<uint32_t> *const colors_ = nullptr, bool flip_ = false)

Write a binary little-endian PLY file using packed RGBA colors.

Parameters:

• filename_ – Output path of the generated PLY file.

• points_ – Point positions in XYZ order.

• colors_ – Optional packed RGBA colors (high byte = red, then green, blue, alpha).

• flip_ – When true, converts coordinates from camera rbf to PLY flu.