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

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

Adds sensor pose information to the point cloud from a specified reference frame.

This method computes the transformation (isometry) from the point cloud’s reference frame to the specified sensor frame for each timestamp in the point cloud data. The resulting sensor poses are then added to the point data as additional columns.

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