Module organized_point_cloud 

Organized (grid-structured) point clouds.

Most LiDAR sensors and depth cameras produce points laid out in a 2D width × height grid: rotating LiDARs give one row per laser ring, depth cameras give one row per pixel row. Preserving that structure makes a number of algorithms trivial — scan-line normal estimation, range-image segmentation, ring-based ground segmentation, O(1) neighbor lookup by (row±1, col±1). This module provides OrganizedPointCloud, a row-major grid of Option<T> where None represents missing/invalid returns (e.g. NaN points in a sensor_msgs/PointCloud2).

OrganizedPointCloud is additive — the existing PointCloud remains the primary container for unorganized data, and you can drop down to it via OrganizedPointCloud::to_unorganized.

Structs

CameraIntrinsics

Pinhole camera intrinsics for depth-image projection.

OrganizedPointCloud

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