Struct PointCloud

pub struct PointCloud {
    pub positions: Vec<Vec3>,
    pub colors: Option<Vec<[f32; 3]>>,
}

Decoded points of one node, in the node’s local coordinates.

Fields

positions: Vec<Vec3>

Point positions.

colors: Option<Vec<[f32; 3]>>

One linear RGB colour in 0..=1 per position, when the source has colours.

Implementations

impl PointCloud

pub fn len(&self) -> usize

Number of points.

pub fn is_empty(&self) -> bool

Whether the cloud has no points.

pub fn from_attributes<A: Attributes + ?Sized>( attributes: &A, ) -> Result<Option<Self>, DecodeError>

Decodes the node’s point cloud, or None when it has no point-cloud attribute. With several, pcd::base64 wins over points::array, which wins over points::base64, as in the upstream viewer.

pub fn from_points_array(value: &Value) -> Result<Self, DecodeError>

Decodes a points::array value: {"positions": [[x, y, z], …], "colors": [[r, g, b], …]} with colors optional.

pub fn from_points_base64(value: &Value) -> Result<Self, DecodeError>

Decodes a points::base64 value: {"positions": "<base64>", "colors": "<base64>"} with colors optional. Each string holds little-endian f32 triples back to back.

pub fn from_pcd_base64(value: &Value) -> Result<Self, DecodeError>

Decodes a pcd::base64 value: a string holding a base64-encoded PCD file. See PointCloud::from_pcd.

pub fn from_pcd(bytes: &[u8]) -> Result<Self, DecodeError>

Reads a PCD v0.7 file the way three.js PCDLoader r171 does.

• DATA ascii, binary (row-major), and binary_compressed (LZF, column-major) are read. Other DATA values are DecodeError::UnsupportedPcd.
• x, y, z are required. In binary data they must be SIZE 4, TYPE F, COUNT 1, the only layout the loader reads correctly.
• rgb is optional, packed as 0x00RRGGBB in four bytes, and converted from sRGB to linear. In ASCII data a TYPE F value is reinterpreted bit for bit, as PCL writes it.
• Other fields (normals, intensity, label, …) are skipped.
• Multi-byte binary values are little-endian.

Trait Implementations

impl Clone for PointCloud

fn clone(&self) -> PointCloud

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for PointCloud

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

Formats the value using the given formatter.

impl Default for PointCloud

fn default() -> PointCloud

Returns the “default value” for a type.

impl PartialEq for PointCloud

fn eq(&self, other: &PointCloud) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for PointCloud