modern_icp/point_cloud/
iterator.rs

1use nalgebra::Scalar;
2
3use super::{MaskedPointCloud, PointCloudPoint};
4
5#[derive(Debug, Copy)]
6pub struct PointCloudIterator<'a, T: Scalar + Copy, const D: usize> {
7    pub(super) target: &'a MaskedPointCloud<'a, T, D>,
8    pub(super) cur_index: usize,
9}
10
11impl<'a, T: Scalar + Copy, const D: usize> Clone for PointCloudIterator<'a, T, D> {
12    fn clone(&self) -> Self {
13        *self
14    }
15}
16
17impl<'a, T: Scalar + Copy, const D: usize> Iterator for PointCloudIterator<'a, T, D> {
18    type Item = &'a PointCloudPoint<T, D>;
19
20    fn next(&mut self) -> Option<Self::Item> {
21        let res = if self.cur_index >= self.target.masked_and_ordered_to_plain_index.len() {
22            None
23        } else {
24            let index = self.target.masked_and_ordered_to_plain_index[self.cur_index];
25            Some(&self.target.point_cloud[index])
26        };
27
28        self.cur_index += 1;
29        res
30    }
31}
32
33impl<'a, T: Scalar + Copy, const D: usize> ExactSizeIterator for PointCloudIterator<'a, T, D> {
34    fn len(&self) -> usize {
35        self.target.masked_and_ordered_to_plain_index.len()
36    }
37}
modern_icp/point_cloud/iterator.rs

modern_icp/point_cloud/
iterator.rs
