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feat: Add small new constructor for LidarMeasurement #78

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Merged
contagon merged 1 commit into from
May 8, 2026
Merged

feat: Add small new constructor for LidarMeasurement #78

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7 changes: 7 additions & 0 deletions cpp/bindings/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -267,6 +267,13 @@ inline void make_types(nb::module_& m) {
"List of points in the "
"point cloud. Note, this is always in row major format."
)
.def_static(
"from_vec_positions",
&LidarMeasurement::from_vec_positions,
"stamp"_a,
"positions"_a,
"Construct a LidarMeasurement from a stamp and a (n,3) numpy array."
)
.def(
"to_vec_positions",
&LidarMeasurement::to_vec_positions,
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10 changes: 10 additions & 0 deletions cpp/evalio/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -218,6 +218,16 @@ struct LidarMeasurement {
return oss.str();
}

static LidarMeasurement
from_vec_positions(Stamp stamp, const Eigen::MatrixX3d& positions) {
std::vector<Point> pts;
pts.reserve(positions.rows());
for (const auto& p : positions.rowwise()) {
pts.push_back(Point {.x = p.x(), .y = p.y(), .z = p.z()});
}
return LidarMeasurement(stamp, pts);
}

std::vector<Eigen::Vector3d> to_vec_positions() const {
std::vector<Eigen::Vector3d> eigen_points;
eigen_points.reserve(points.size());
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