Struct PointCloud

pub struct PointCloud {
    pub point_data: PointData,
    pub info: PointCloudInfo,
    pub reference_frames: ReferenceFrames,
}

Fields

point_data: PointData

info: PointCloudInfo

reference_frames: ReferenceFrames

Implementations

impl PointCloud

pub fn new( point_data: PointDataColumns, info: PointCloudInfo, reference_frames: ReferenceFrames, ) -> Result<Self, Error>

pub fn from_data_frame( point_data: DataFrame, info: PointCloudInfo, reference_frames: ReferenceFrames, ) -> Result<Self, Error>

impl PointCloud

pub fn point_data(&self) -> &PointData

pub fn info(&self) -> &PointCloudInfo

pub fn reference_frames(&self) -> &ReferenceFrames

pub fn size(&self) -> usize

pub fn info_frame_id(&self) -> Option<&FrameId>

pub fn get_distinct_frame_ids(&self) -> Option<HashSet<FrameId>>

impl PointCloud

pub fn contains_ids(&self) -> bool

pub fn contains_frame_ids(&self) -> bool

pub fn contains_timestamps(&self) -> bool

pub fn contains_sensor_translation(&self) -> bool

pub fn contains_colors(&self) -> bool

pub fn set_reference_frames(&mut self, reference_frames: ReferenceFrames)

pub fn set_info_frame_id(&mut self, frame_id: Option<FrameId>)

pub fn update_points( &mut self, points: Vec<Point3<f64>>, frame_id: Option<FrameId>, ) -> Result<(), Error>

pub fn derive_spherical_points(&mut self) -> Result<(), Error>

pub fn filter_by_id_range( &self, id_min: Option<u64>, id_max: Option<u64>, ) -> Result<PointCloud, Error>

pub fn filter_by_frame_id( &self, frame_id: &FrameId, ) -> Result<PointCloud, Error>

pub fn filter_by_row_indices( &self, row_indices: HashSet<usize>, ) -> Result<PointCloud, Error>

pub fn filter_by_boolean_mask( &self, mask: &Vec<bool>, ) -> Result<PointCloud, Error>

pub fn filter_by_bounds( &self, bound_min: Point3<f64>, bound_max: Point3<f64>, ) -> Result<Option<PointCloud>, Error>

pub fn filter_by_beam_length( &self, beam_length_min: f64, beam_length_max: f64, ) -> Result<Option<PointCloud>, Error>

pub fn filter_by_x_min(&self, x_min: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_x_max(&self, x_max: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_y_min(&self, y_min: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_y_max(&self, y_max: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_z_min(&self, z_min: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_z_max(&self, z_max: f64) -> Result<Option<PointCloud>, Error>

pub fn filter_by_spherical_range_min( &self, spherical_range_min: f64, ) -> Result<Option<PointCloud>, Error>

pub fn filter_by_spherical_range_max( &self, spherical_range_max: f64, ) -> Result<Option<PointCloud>, Error>

impl PointCloud

pub fn append_reference_frames( &mut self, reference_frames: ReferenceFrames, ) -> Result<(), Error>

pub fn resolve_to_frame( &mut self, target_frame_id: FrameId, ) -> Result<(), Error>

Resolves the frame-dependent and time-dependent points of the point cloud to a target frame.

The points are partitioned by frame ids and timestamps and a coordinate transform is derived for each partition. It must be

See also: https://stackoverflow.com/a/65287197

Trait Implementations

impl Clone for PointCloud

fn clone(&self) -> PointCloud

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PointCloud

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

Formats the value using the given formatter.

impl PartialEq for PointCloud

fn eq(&self, other: &PointCloud) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for PointCloud