epoint_core

Struct PointData

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pub struct PointData {
    pub data_frame: DataFrame,
}
Expand description

Wrapper around the data frame with type-safe columns.

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§data_frame: DataFrame

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impl PointData

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pub fn compute_octree( &mut self, max_items_per_octant: usize, shuffle_seed_number: Option<u64>, ) -> Result<(), Error>

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impl PointData

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pub fn new(data_frame: DataFrame) -> Result<Self, Error>

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pub fn new_unchecked(data_frame: DataFrame) -> Self

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pub fn height(&self) -> usize

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pub fn is_empty(&self) -> bool

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impl PointData

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pub fn get_x_values(&self) -> &Float64Chunked

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pub fn get_y_values(&self) -> &Float64Chunked

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pub fn get_z_values(&self) -> &Float64Chunked

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pub fn get_id_values(&self) -> Result<&UInt64Chunked, Error>

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pub fn get_frame_id_values(&self) -> Result<&CategoricalChunked, Error>

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pub fn get_timestamp_sec_values(&self) -> Result<&Int64Chunked, Error>

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pub fn get_timestamp_nanosec_values(&self) -> Result<&UInt32Chunked, Error>

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pub fn get_intensity_values(&self) -> Result<&Float32Chunked, Error>

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pub fn get_sensor_translation_x_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_translation_y_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_translation_z_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_rotation_i_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_rotation_j_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_rotation_k_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_sensor_rotation_w_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_color_red_values(&self) -> Result<&UInt16Chunked, Error>

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pub fn get_color_green_values(&self) -> Result<&UInt16Chunked, Error>

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pub fn get_color_blue_values(&self) -> Result<&UInt16Chunked, Error>

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pub fn get_spherical_azimuth_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_spherical_elevation_values(&self) -> Result<&Float64Chunked, Error>

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pub fn get_spherical_range_values(&self) -> Result<&Float64Chunked, Error>

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impl PointData

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pub fn contains_id_column(&self) -> bool

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pub fn contains_frame_id_column(&self) -> bool

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pub fn contains_timestamp_sec_column(&self) -> bool

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pub fn contains_timestamp_nanosec_column(&self) -> bool

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pub fn contains_intensity_column(&self) -> bool

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pub fn contains_sensor_translation_x_column(&self) -> bool

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pub fn contains_sensor_translation_y_column(&self) -> bool

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pub fn contains_sensor_translation_z_column(&self) -> bool

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pub fn contains_sensor_rotation_i_column(&self) -> bool

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pub fn contains_sensor_rotation_j_column(&self) -> bool

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pub fn contains_sensor_rotation_k_column(&self) -> bool

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pub fn contains_sensor_rotation_w_column(&self) -> bool

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pub fn contains_color_red_column(&self) -> bool

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pub fn contains_color_green_column(&self) -> bool

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pub fn contains_color_blue_column(&self) -> bool

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pub fn contains_spherical_azimuth_column(&self) -> bool

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pub fn contains_spherical_elevation_column(&self) -> bool

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pub fn contains_spherical_range_column(&self) -> bool

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pub fn contains_octant_index_level_column(&self) -> bool

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pub fn contains_octant_index_x_column(&self) -> bool

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pub fn contains_octant_index_y_column(&self) -> bool

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pub fn contains_octant_index_z_column(&self) -> bool

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impl PointData

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pub fn contains_timestamps(&self) -> bool

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pub fn contains_sensor_translation(&self) -> bool

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pub fn contains_sensor_rotation(&self) -> bool

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pub fn contains_sensor_pose(&self) -> bool

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pub fn contains_colors(&self) -> bool

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pub fn contains_octant_indices(&self) -> bool

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impl PointData

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pub fn get_all_points(&self) -> Vec<Point3<f64>> ⓘ

Returns all points as a vector in the local coordinate frame.

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pub fn get_all_frame_ids(&self) -> Result<Vec<FrameId>, Error>

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pub fn get_all_timestamps(&self) -> Result<Vec<DateTime<Utc>>, Error>

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pub fn get_all_sensor_translations(&self) -> Result<Vec<Point3<f64>>, Error>

Returns all sensor translations as points in the local coordinate frame.

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pub fn get_all_sensor_rotations( &self, ) -> Result<Vec<UnitQuaternion<f64>>, Error>

Returns all sensor rotations as quaternions in the local coordinate frame.

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pub fn get_all_sensor_poses(&self) -> Result<Vec<Isometry3<f64>>, Error>

Returns all sensor rotations as quaternions in the local coordinate frame.

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pub fn get_all_colors(&self) -> Result<Vec<Srgb<u16>>, Error>

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pub fn get_all_spherical_points( &self, ) -> Result<Vec<SphericalPoint3<f64>>, Error>

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impl PointData

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

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impl PointData

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pub fn get_distinct_frame_ids(&self) -> Result<HashSet<FrameId>, Error>

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pub fn get_timestamp_min(&self) -> Result<Option<DateTime<Utc>>, Error>

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pub fn get_timestamp_max(&self) -> Result<Option<DateTime<Utc>>, Error>

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pub fn get_median_time(&self) -> Result<DateTime<Utc>, Error>

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pub fn get_axis_aligned_bounding_box(&self) -> AxisAlignedBoundingBox

Returns the AABB.

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pub fn get_local_min(&self) -> Point3<f64>

Returns the minimum point of the AABB.

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pub fn get_local_max(&self) -> Point3<f64>

Returns the maximum point of the AABB.

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pub fn get_local_center(&self) -> Point3<f64>

Returns the center point of the AABB.

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pub fn get_local_sensor_translation_min(&self) -> Result<Point3<f64>, Error>

Returns the minimum sensor translation point of the AABB.

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pub fn get_local_sensor_translation_max(&self) -> Result<Point3<f64>, Error>

Returns the maximum sensor translation point of the AABB.

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pub fn get_id_min(&self) -> Result<Option<u64>, Error>

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pub fn get_id_max(&self) -> Result<Option<u64>, Error>

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pub fn get_intensity_min(&self) -> Result<Option<f32>, Error>

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pub fn get_intensity_max(&self) -> Result<Option<f32>, Error>

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pub fn derive_convex_hull(&self) -> Option<ConvexPolyhedron>

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impl PointData

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

Adds a sequentially increasing id column, if no column exists.

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

Derives spherical points.

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pub fn add_i64_column( &mut self, name: &str, values: Vec<i64>, ) -> Result<(), Error>

Add a new column to this DataFrame or replace an existing one.

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pub fn add_u32_column( &mut self, name: &str, values: Vec<u32>, ) -> Result<(), Error>

Add a new column to this DataFrame or replace an existing one.

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pub fn add_f32_column( &mut self, name: &str, values: Vec<f32>, ) -> Result<(), Error>

Add a new column to this DataFrame or replace an existing one.

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pub fn add_f64_column( &mut self, name: &str, values: Vec<f64>, ) -> Result<(), Error>

Add a new column to this DataFrame or replace an existing one.

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pub fn remove_column(&mut self, column: &str) -> Result<(), Error>

Removes a column from the point cloud.

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impl PointData

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pub fn update_points_in_place( &mut self, points: Vec<Point3<f64>>, ) -> Result<(), Error>

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pub fn update_sensor_translations_in_place( &mut self, sensor_translations: Vec<Point3<f64>>, ) -> Result<(), Error>

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pub fn update_sensor_rotations_in_place( &mut self, sensor_rotations: Vec<UnitQuaternion<f64>>, ) -> Result<(), Error>

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pub fn update_sensor_poses_in_place( &mut self, sensor_poses: Vec<Isometry3<f64>>, ) -> Result<(), Error>

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pub fn add_spherical_points( &mut self, spherical_points: Vec<SphericalPoint3<f64>>, ) -> Result<(), Error>

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pub fn add_octant_indices( &mut self, octant_indices: Vec<OctantIndex>, ) -> Result<(), Error>

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pub fn add_unique_frame_id(&mut self, frame_id: FrameId) -> Result<(), Error>

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pub fn add_frame_ids(&mut self, frame_ids: Vec<FrameId>) -> Result<(), Error>

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pub fn add_unique_sensor_translation( &mut self, sensor_translation: Point3<f64>, ) -> Result<(), Error>

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pub fn add_sensor_translations( &mut self, sensor_translations: Vec<Point3<f64>>, ) -> Result<(), Error>

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pub fn add_unique_sensor_rotation( &mut self, sensor_rotation: UnitQuaternion<f64>, ) -> Result<(), Error>

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pub fn add_sensor_rotations( &mut self, sensor_rotations: Vec<UnitQuaternion<f64>>, ) -> Result<(), Error>

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pub fn add_unique_sensor_pose( &mut self, sensor_pose: Isometry3<f64>, ) -> Result<(), Error>

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pub fn add_sensor_poses( &mut self, sensor_poses: Vec<Isometry3<f64>>, ) -> Result<(), Error>

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pub fn add_unique_color(&mut self, color: Srgb<u16>) -> Result<(), Error>

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pub fn add_colors(&mut self, colors: Vec<Srgb<u16>>) -> Result<(), Error>

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

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pub fn filter_by_boolean_mask( &self, boolean_mask: &BooleanChunked, ) -> Result<PointData, Error>

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

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

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

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

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

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

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

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

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

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

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pub fn filter_by_octant_index( &self, index: OctantIndex, ) -> Result<Option<PointData>, Error>

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impl PointData

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pub fn resolve_data_frame( &mut self, reference_frame: &ReferenceFrames, timestamp: &Option<DateTime<Utc>>, frame_id: &FrameId, target_frame_id: &FrameId, ) -> Result<(), Error>

Resolves points to target_frame_id

Expects a data frame with only one

Trait Implementations§

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impl Clone for PointData

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fn clone(&self) -> PointData

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PointData

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

Formats the value using the given formatter. Read more
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impl PartialEq for PointData

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

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

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

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impl<S, D, Swp, Dwp, T> AdaptInto<D, Swp, Dwp, T> for S
where T: Real + Zero + Arithmetics + Clone, Swp: WhitePoint<T>, Dwp: WhitePoint<T>, D: AdaptFrom<S, Swp, Dwp, T>,

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fn adapt_into_using<M>(self, method: M) -> D
where M: TransformMatrix<T>,

Convert the source color to the destination color using the specified method.
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fn adapt_into(self) -> D

Convert the source color to the destination color using the bradford method by default.
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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T, C> ArraysFrom<C> for T
where C: IntoArrays<T>,

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fn arrays_from(colors: C) -> T

Cast a collection of colors into a collection of arrays.
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impl<T, C> ArraysInto<C> for T
where C: FromArrays<T>,

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fn arrays_into(self) -> C

Cast this collection of arrays into a collection of colors.
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fn borrow(&self) -> &T

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impl<WpParam, T, U> Cam16IntoUnclamped<WpParam, T> for U
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type Scalar = <T as FromCam16Unclamped<WpParam, U>>::Scalar

The number type that’s used in parameters when converting.
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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impl<T, C> ComponentsFrom<C> for T
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fn components_from(colors: C) -> T

Cast a collection of colors into a collection of color components.
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Performs a conversion from angle.
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Convert into T with values clamped to the color defined bounds Read more
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Convert into T. The resulting color might be invalid in its color space Read more
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The alignment of pointer.
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unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
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type Error = <C as TryFromComponents<T>>::Error

The error for when try_into_colors fails to cast.
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fn try_components_into(self) -> Result<C, <T as TryComponentsInto<C>>::Error>

Try to cast this collection of color components into a collection of colors. Read more
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Performs the conversion.
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fn try_into_color(self) -> Result<U, OutOfBounds<U>>

Convert into T, returning ok if the color is inside of its defined range, otherwise an OutOfBounds error is returned which contains the unclamped color. Read more
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impl<C, U> UintsFrom<C> for U
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fn uints_from(colors: C) -> U

Cast a collection of colors into a collection of unsigned integers.
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impl<C, U> UintsInto<C> for U
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fn uints_into(self) -> C

Cast this collection of unsigned integers into a collection of colors.
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