Struct PointCloud

pub struct PointCloud {
    pub header: PointCloudHeader,
    pub decompressed_buffer: Vec<u8>,
}

PointCloud struct

Usage:

use pcd_reader::PointCloud;
let filename = "sample/sample_binary_compressed.pcd";
let pcd = PointCloud::from_filename(filename);
let x_data = pcd.get_data_f32("x");
let y_data = pcd.get_data_f32("y");
let z_data = pcd.get_data_f32("z");
let intensity_data = pcd.get_data_u8("intensity");
let ring_data = pcd.get_data_u8("ring");
assert_eq!(pcd.header.data_format, "binary_compressed");
assert_eq!(pcd.header.num_points, 159602);
assert_eq!(pcd.header.field_names, ["x", "y", "z", "intensity", "ring"]);
assert_eq!(pcd.header.size_list, [4, 4, 4, 1, 1]);
assert_eq!(pcd.header.type_list, ["F", "F", "F", "U", "U"]);
assert_eq!(pcd.decompressed_buffer.len(), 2234428);
assert_eq!(x_data.len(), 159602);
assert_eq!(y_data.len(), 159602);
assert_eq!(z_data.len(), 159602);
assert_eq!(intensity_data.len(), 159602);
assert_eq!(ring_data.len(), 159602);

Fields

header: PointCloudHeader

decompressed_buffer: Vec<u8>

Implementations

impl PointCloud

pub fn from_filename(filename: &str) -> PointCloud

pub fn get_data_f32(&self, fieldname: &str) -> Vec<f32>

pub fn get_data_f64(&self, fieldname: &str) -> Vec<f64>

pub fn get_data_u8(&self, fieldname: &str) -> Vec<u8>

pub fn get_data_u16(&self, fieldname: &str) -> Vec<u16>

pub fn get_data_u32(&self, fieldname: &str) -> Vec<u32>

pub fn get_data_u64(&self, fieldname: &str) -> Vec<u64>

pub fn get_data_i16(&self, fieldname: &str) -> Vec<i16>

pub fn get_data_i32(&self, fieldname: &str) -> Vec<i32>

pub fn get_data_i64(&self, fieldname: &str) -> Vec<i64>

Trait Implementations

impl Debug for PointCloud

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

Formats the value using the given formatter.