Struct OrganizedPointCloud 

pub struct OrganizedPointCloud<T> {
    pub width: usize,
    pub height: usize,
    pub points: Vec<Option<T>>,
    pub is_dense: bool,
}

A point cloud whose points sit in a width × height grid in row-major order.

Cells holding None represent missing returns. Iteration via OrganizedPointCloud::iter_valid yields only the populated cells.

Fields

width: usize

Points per row.

height: usize

Number of rows (LiDAR rings or image rows).

points: Vec<Option<T>>

Row-major storage of length width * height.

is_dense: bool

true iff every cell is Some. Mirrors sensor_msgs/PointCloud2::is_dense.

Implementations

impl<T> OrganizedPointCloud<T>

pub fn new(width: usize, height: usize) -> Self

where T: Clone,

Create an empty organized cloud with the given dimensions; every cell starts as None and is_dense = false.

pub fn from_points( width: usize, height: usize, points: Vec<Option<T>>, ) -> Option<Self>

Construct from a flat row-major buffer of Option<T>.

Returns None if points.len() != width * height.

pub fn len(&self) -> usize

Total number of grid cells (width * height), including empty ones.

pub fn is_empty(&self) -> bool

true iff the grid has no cells.

pub fn valid_count(&self) -> usize

Number of Some cells.

pub fn get(&self, row: usize, col: usize) -> Option<&T>

Borrow the point at (row, col), if any. Returns None for both out-of-bounds indices and empty cells.

pub fn get_mut(&mut self, row: usize, col: usize) -> Option<&mut T>

Mutable borrow of the point at (row, col).

pub fn set(&mut self, row: usize, col: usize, value: Option<T>) -> bool

Set a point at (row, col). Returns false if the indices are out of bounds. Updates is_dense conservatively (set to false whenever a None is written).

pub fn row(&self, row: usize) -> &[Option<T>]

Slice of all cells in the given row (out-of-bounds → empty slice).

pub fn ring(&self, ring_index: usize) -> &[Option<T>]

Alias for [row] — LiDAR users typically call rows “rings”.

pub fn iter_valid(&self) -> impl Iterator<Item = (usize, usize, &T)>

Iterator over (row, col, &T) for all populated cells.

pub fn refresh_dense_flag(&mut self)

Recompute is_dense from the current cell contents.

impl<T: Clone> OrganizedPointCloud<T>

pub fn to_unorganized(&self) -> PointCloud<T>

Drop None cells and return an unorganized cloud preserving point order.

impl OrganizedPointCloud<Point3f>

pub fn from_depth_image( depth: &[u16], width: usize, height: usize, intrinsics: &CameraIntrinsics, depth_scale: f32, ) -> Option<Self>

Build an organized cloud by back-projecting a row-major depth image through pinhole intrinsics. Pixels with a depth of 0 (or NaN after scaling) are stored as None.

Returns None if depth.len() != width * height.

Trait Implementations

impl<T: Clone> Clone for OrganizedPointCloud<T>

fn clone(&self) -> OrganizedPointCloud<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for OrganizedPointCloud<T>

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

Formats the value using the given formatter.

impl<T> Default for OrganizedPointCloud<T>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, T> Deserialize<'de> for OrganizedPointCloud<T>

where T: Deserialize<'de>,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<T> Serialize for OrganizedPointCloud<T>

where T: Serialize,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.