point_cloud.h 文件参考

Zero-copy, schema-aware 3-D point cloud container for VLink transport. 更多...

#include <cstdint>
#include <iostream>
#include <string>
#include <string_view>
#include <unordered_map>
#include <vector>
#include "../base/bytes.h"
#include "./header.h"

point_cloud.h 的引用(Include)关系图:

浏览该文件的源代码.

命名空间
namespace	vlink
namespace	vlink::zerocopy

详细描述

Zero-copy, schema-aware 3-D point cloud container for VLink transport.

PointCloud stores an array of fixed-size point records together with a compact compile-time schema that describes the name, type, and byte size of every field per point. The schema is encoded into two uint64_t values (size_num and type_num) where each nibble (4 bits) encodes one field, and a comma-separated name string (up to 160 chars, 3-16 fields).

Protocol encoding

size_num: 0x0408...  (nibble N = byte-size of field N, high nibble = first field)
type_num: 0x0A0B...  (nibble N = Type enum value of field N)
names:    "x,y,z,intensity"

Supported field types

Enum	C++ type	Size
kBoolType	bool	1
kInt8Type	int8_t	1
kUint8Type	uint8_t	1
kInt16Type	int16_t	2
kUint16Type	uint16_t	2
kInt32Type	int32_t	4
kUint32Type	uint32_t	4
kInt64Type	int64_t	8
kUint64Type	uint64_t	8
kFloatType	float	4
kDoubleType	double	8

Binary wire format

[ magic_begin (4) | PointCloud struct (256) | point data (size * pack_size) | magic_end (4) ]

Usage – float XYZ + intensity

vlink::zerocopy::PointCloud pc;
pc.create_v3f<float>(1000, {"x", "y", "z", "intensity"});
 
// Append points
pc.push_value_v3f(1.0f, 2.0f, 3.0f, 0.8f);
pc.push_value_v3f(4.0f, 5.0f, 6.0f, 0.5f);
 
// Read back
auto key_map = pc.get_key_map();
float x = pc.get_value<float>(0, key_map, "x");
 
// Serialise
vlink::Bytes wire;
pc >> wire;
 
// Deserialise (zero-copy, borrows wire)
vlink::zerocopy::PointCloud pc2;
pc2 << wire;

注解

• 32-bit architectures emit a compile-time warning and are not supported.
• After operator<<, the data pointer references memory inside the source Bytes. The Bytes must outlive the PointCloud.
• create<T...>() requires 3-16 type parameters, all of which must be fundamental types.
• set_value() requires resize() to have been called first so that the internal write-cursor is positioned correctly.
• The struct is exactly 256 bytes on 64-bit platforms (verified by static_assert).