Struct PointCloud

pub struct PointCloud<PointType> {
    pub header: PclHeader,
    pub points: Vec<PointType>,
    pub size: u32,
    pub width: u32,
    pub height: u32,
    pub is_dense: bool,
    pub sensor_origin: Vector4<f32>,
    pub sensor_orientation: Quaternion<f32>,
    /* private fields */
}

Fields

header: PclHeader

points: Vec<PointType>

点数据

size: u32

点云数量

width: u32

点云宽度（如果以图像结构组织）

height: u32

点云高度（如果以图像结构组织）

is_dense: bool

是否所有点都是有效的（没有NaN或Inf值）

sensor_origin: Vector4<f32>

传感器采集位置（原点/平移）

sensor_orientation: Quaternion<f32>

传感器采集姿态（旋转）

Implementations

impl<PointType: Clone> PointCloud<PointType>

pub fn new() -> Self

pub fn from_points_vec(input_points_vec: Vec<PointType>) -> Self

从点云容器构造

pub fn from_subset(pc: &PointCloud<PointType>, indices: &[usize]) -> Self

从点云子集构造

pub fn size(&self) -> usize

获取点云数量

pub fn is_organized(&self) -> bool

判断点云是否是有组织的

pub fn clear(&mut self)

清空点云

impl PointCloud<PointDEM>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointNormal>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointSurfel>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointUV>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointWithRange>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointWithScale>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointWithViewpoint>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXY>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZ>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZHSV>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZI>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZINormal>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZL>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZLAB>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZLNormal>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZRGB>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZRGBA>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZRGBL>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZRGBNormal>

pub fn load_from_pcd(path: &str) -> Result<Self, Error>

impl PointCloud<PointXYZRGB>

pub fn load_from_ply(path: &str) -> Result<Self, Error>

Trait Implementations

impl<PointType: Clone> Clone for PointCloud<PointType>

fn clone(&self) -> PointCloud<PointType>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<PointType: Debug> Debug for PointCloud<PointType>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<PointType: Default> Default for PointCloud<PointType>

fn default() -> PointCloud<PointType>

Returns the “default value” for a type.

impl<PointType> Display for PointCloud<PointType>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.