Struct LidarFrame 

pub struct LidarFrame {
    pub timestamp: f64,
    pub n_points: usize,
    pub positions: Vec<[f32; 3]>,
    pub intensities: Vec<f32>,
}

LiDAR frame: timestamp, point cloud, intensities.

Fields

timestamp: f64

Timestamp in seconds.

n_points: usize

Number of points.

positions: Vec<[f32; 3]>

3D positions [x, y, z] in meters (f32 for compactness).

intensities: Vec<f32>

Intensity values (0.0..1.0).

Implementations

impl LidarFrame

pub fn new(timestamp: f64) -> Self

Create a new empty LiDAR frame.

pub fn add_point(&mut self, pos: [f32; 3], intensity: f32)

Add a point.

pub fn to_bytes(&self) -> Vec<u8>

Serialize to bytes.

pub fn bounding_box(&self) -> [[f32; 2]; 3]

Point cloud bounding box [[min_x, max_x\], [min_y, max_y], [min_z, max_z]].

Trait Implementations

impl Clone for LidarFrame

fn clone(&self) -> LidarFrame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LidarFrame

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

Formats the value using the given formatter.