Struct epoint_core::PointData

pub struct PointData {
    pub data_frame: DataFrame,
}

Wrapper around the data frame with type-safe columns.

Fields

data_frame: DataFrame

Implementations

impl PointData

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

pub fn new_unchecked(data_frame: DataFrame) -> Self

pub fn height(&self) -> usize

impl PointData

pub fn get_x_values(&self) -> &Float64Chunked

pub fn get_y_values(&self) -> &Float64Chunked

pub fn get_z_values(&self) -> &Float64Chunked

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

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

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

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

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

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

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

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

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

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

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

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

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

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

impl PointData

pub fn contains_id_column(&self) -> bool

pub fn contains_frame_id_column(&self) -> bool

pub fn contains_timestamp_sec_column(&self) -> bool

pub fn contains_timestamp_nanosec_column(&self) -> bool

pub fn contains_intensity_column(&self) -> bool

pub fn contains_beam_origin_x_column(&self) -> bool

pub fn contains_beam_origin_y_column(&self) -> bool

pub fn contains_beam_origin_z_column(&self) -> bool

pub fn contains_color_red_column(&self) -> bool

pub fn contains_color_green_column(&self) -> bool

pub fn contains_color_blue_column(&self) -> bool

pub fn contains_spherical_azimuth_column(&self) -> bool

pub fn contains_spherical_elevation_column(&self) -> bool

pub fn contains_spherical_range_column(&self) -> bool

impl PointData

pub fn contains_timestamps(&self) -> bool

pub fn contains_beam_origin(&self) -> bool

pub fn contains_colors(&self) -> bool

impl PointData

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

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

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

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

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

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

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

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

impl PointData

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

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

pub fn get_axis_aligned_bounding_box(&self) -> AxisAlignedBoundingBox

Returns the AABB.

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

Returns the minimum point of the AABB.

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

Returns the maximum point of the AABB.

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

Returns the center point of the AABB.

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

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

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

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

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

impl PointData

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

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

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

Derives spherical points.

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.

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.

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.

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.

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

Removes a column from the point cloud.

impl PointData

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

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

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

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

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

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

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

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

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

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

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

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

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

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

impl PointData

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

impl Clone for PointData

fn clone(&self) -> PointData

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for PointData

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

Formats the value using the given formatter.

impl PartialEq for PointData

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