Function slam_mer::utils::write_ply_binary(const std::string&, const std::vector<std::array<float, 3>>&, const std::vector<std::array<uint8_t, 3>> *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<std::array<uint8_t, 3>> *const colors_, bool flip_ = false)

Write a point cloud to a binary little-endian PLY file.

Parameters:

• filename_ – Output path of the generated PLY file.

• points_ – Point positions in XYZ order.

• colors_ – Optional RGB colors aligned with points_.

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