C++ API Reference¶

The C++ API provides the core functionality for lossless range image generation and reconstruction. All symbols are in the alice_lri namespace.

Main Functions¶

Common entry points for intrinsics estimation, projection, and reconstruction.

Intrinsics Estimation¶

Result<Intrinsics> alice_lri::estimateIntrinsics(const PointCloud::Float &points) noexcept¶

Estimate sensor intrinsics from a float point cloud.

Parameters:: points – Input point cloud (float precision).
Returns:: Result containing estimated Intrinsics or error status.

Result<Intrinsics> alice_lri::estimateIntrinsics(const PointCloud::Double &points) noexcept¶

Estimate sensor intrinsics from a double point cloud.

Parameters:: points – Input point cloud (double precision).
Returns:: Result containing estimated Intrinsics or error status.

Range Image Projection¶

Result<RangeImage> alice_lri::projectToRangeImage(const Intrinsics &intrinsics, const PointCloud::Float &points) noexcept¶

Project a point cloud to a range image using given intrinsics (float).

Parameters:

intrinsics – Sensor intrinsics.
points – Input point cloud (float precision).

Returns:

Result containing RangeImage or error status.

Result<RangeImage> alice_lri::projectToRangeImage(const Intrinsics &intrinsics, const PointCloud::Double &points) noexcept¶

Project a point cloud to a range image using given intrinsics (double).

Parameters:

intrinsics – Sensor intrinsics.
points – Input point cloud (double precision).

Returns:

Result containing RangeImage or error status.

Point Cloud Reconstruction¶

PointCloud::Double alice_lri::unProjectToPointCloud(const Intrinsics &intrinsics, const RangeImage &rangeImage) noexcept¶

Unproject a range image to a double point cloud using given intrinsics.

Parameters:

intrinsics – Sensor intrinsics.
rangeImage – Input range image.

Returns:

Unprojected point cloud (double precision).

Main Data Structures¶

Core types for working with intrinsics, range images, and point clouds.

struct Intrinsics¶

Contains intrinsic parameters for a sensor, including all scanlines.

Public Functions

inline explicit Intrinsics(const int32_t scanlineCount) noexcept¶

Constructs Intrinsics with a given number of scanlines.

Parameters:: scanlineCount – Number of scanlines.

Public Members

AliceArray<Scanline> scanlines¶: Array of scanlines describing the sensor geometry.

struct RangeImage¶

Represents a 2D range image with pixel data.

Public Functions

inline RangeImage() noexcept¶: Default constructor (empty image).

inline RangeImage(const uint32_t w, const uint32_t h) noexcept¶

Construct with width and height. Reserves space for pixels but does not initialize them.

Parameters:

w – Image width
h – Image height

inline RangeImage(const uint32_t w, const uint32_t h, const double initialValue) noexcept¶

Construct with width, height, and initial pixel value.

Parameters:

w – Image width
h – Image height
initialValue – Initial value for all pixels

inline double &operator()(const uint32_t row, const uint32_t col) noexcept¶: Access pixel at (row, col).

inline const double &operator()(const uint32_t row, const uint32_t col) const noexcept¶: Access pixel at (row, col) (const).

inline uint32_t width() const noexcept¶

Returns:: Image width.

inline uint32_t height() const noexcept¶

Returns:: Image height.

inline uint64_t size() const noexcept¶

Returns:: Total number of pixels.

inline const double *data() const noexcept¶

Returns:: Pointer to pixel data (const).

inline double *data() noexcept¶

Returns:: Pointer to pixel data.

struct Scanline¶

Represents a single scanline with intrinsic parameters.

Public Members

double verticalOffset¶: Vertical spatial offset of the scanline.

double verticalAngle¶: Vertical angle of the scanline.

double horizontalOffset¶: Horizontal spatial offset of the scanline.

double azimuthalOffset¶: Azimuthal offset of the scanline.

int32_t resolution¶: Horizontal resolution of the scanline.

Point Cloud Types¶

struct Float¶

3D point cloud with float precision.

Public Functions

inline void reserve(const uint64_t count)¶

Reserve memory for a given number of points.

Parameters:: count – Number of points to reserve.

Public Members

AliceArray<float> x¶: X coordinates.

AliceArray<float> y¶: Y coordinates.

AliceArray<float> z¶: Z coordinates.

struct Double¶

3D point cloud with double precision.

Public Functions

inline void reserve(const uint64_t count)¶

Reserve memory for a given number of points.

Parameters:: count – Number of points to reserve.

Public Members

AliceArray<double> x¶: X coordinates.

AliceArray<double> y¶: Y coordinates.

AliceArray<double> z¶: Z coordinates.

Result Type¶

The main API functions return Result<T> to handle success and error cases.

template<class T> class Result¶

Result type for operations that may fail, containing either a value or a status.

Template Parameters:: T – Type of the value.

Public Functions

inline explicit Result(const T &v) noexcept¶

Construct a Result with a value.

Parameters:: v – The value.

inline explicit Result(T &&v) noexcept¶

Construct a Result with a value (move).

Parameters:: v – The value (rvalue).

inline explicit Result(const Status &s) noexcept¶

Construct a Result with a status.

Parameters:: s – The status.

inline explicit Result(Status &&s) noexcept¶

Construct a Result with a status (move).

Parameters:: s – The status (rvalue).

inline ~Result()¶: Destructor.

inline Result(const Result &o)¶: Copy constructor.

inline Result &operator=(const Result &o)¶: Copy assignment.

inline Result(Result &&o) noexcept¶: Move constructor.

inline Result &operator=(Result &&o) noexcept¶: Move assignment.

inline const Status &status() const¶

Get the status (if not ok).

Returns:: Status object.

inline bool ok() const noexcept¶

Check if the result is ok (has value).

Returns:: True if value is present.

inline T &value() &¶

Get the value (lvalue).

Returns:: Reference to value.

inline const T &value() const &¶

Get the value (const lvalue).

Returns:: Const reference to value.

inline T &&value() &&¶

Get the value (rvalue).

Returns:: Rvalue reference to value.

inline explicit operator bool() const noexcept¶

Check if result is ok (implicit conversion).

Returns:: True if value is present.

inline T &operator*()¶

Dereference to value.

Returns:: Reference to value.

inline const T &operator*() const¶

Dereference to value (const).

Returns:: Const reference to value.

inline T *operator->()¶

Pointer access to value.

Returns:: Pointer to value.

inline const T *operator->() const¶

Pointer access to value (const).

Returns:: Const pointer to value.

Public Members

T value_¶: The value, if operation succeeded.

Status status_¶: The status, if operation failed.

Utility Classes¶

AliceArray¶

template<class T> class AliceArray¶

Dynamic array implementation for Alice LRI library.

This class provides a dynamic array with explicit memory management and ABI compatibility. It avoids std::vector to prevent ABI boundary issues when used across library boundaries.

Template Parameters:: T – Element type.

Public Functions

AliceArray() noexcept = default¶: Default constructor.

inline explicit AliceArray(uint64_t n) noexcept¶

Construct with n default-initialized elements.

Parameters:: n – Number of elements.

inline AliceArray(uint64_t n, const T &initialValue) noexcept¶

Construct with n elements, all set to initialValue.

Parameters:

n – Number of elements.
initialValue – Value to assign.

inline AliceArray(const T *data, uint64_t n) noexcept¶

Construct from raw data pointer and size.

Parameters:

data – Pointer to data.
n – Number of elements.

inline AliceArray(const AliceArray &other) noexcept¶: Copy constructor.

template<typename U> inline AliceArray(std::initializer_list<U> init) noexcept¶

Construct from initializer list.

Template Parameters:: U – Type of initializer list elements.
Parameters:: init – Initializer list.

inline AliceArray &operator=(const AliceArray &other) noexcept¶: Copy assignment.

inline AliceArray(AliceArray &&other) noexcept¶: Move constructor.

inline AliceArray &operator=(AliceArray &&other) noexcept¶: Move assignment.

inline ~AliceArray() noexcept¶: Destructor.

inline uint64_t size() const noexcept¶

Returns:: Number of elements.

inline bool empty() const noexcept¶

Returns:: True if array is empty.

inline uint64_t capacity() const noexcept¶

Returns:: Allocated capacity.

inline T *data() noexcept¶

Returns:: Pointer to data.

inline const T *data() const noexcept¶

Returns:: Pointer to data (const).

inline T &operator[](uint64_t i) noexcept¶: Element access.

inline const T &operator[](uint64_t i) const noexcept¶: Element access (const).

inline T *begin() noexcept¶

Returns:: Iterator to beginning.

inline T *end() noexcept¶

Returns:: Iterator to end.

inline const T *begin() const noexcept¶

Returns:: Const iterator to beginning.

inline const T *end() const noexcept¶

Returns:: Const iterator to end.

inline void push_back(const T &value) noexcept¶

Add an element to the end.

Parameters:: value – Value to add.

inline void emplace_back(const T &value) noexcept¶

Add an element to the end (alias for push_back).

Parameters:: value – Value to add.

inline void resize(uint64_t n) noexcept¶

Resize the array to n elements.

Parameters:: n – New size.

inline void reserve(uint64_t n) noexcept¶

Reserve memory for at least n elements.

Parameters:: n – Number of elements.

inline void shrink_to_fit() noexcept¶: Shrink capacity to fit size.

inline void clear() noexcept¶: Clear the array, destroying all elements.

AliceString¶

class AliceString¶

String class for Alice LRI library. Owns its data, is mutable, and always null-terminated.

This class is a thin PIMPL wrapper around std::string, providing explicit memory management and ABI compatibility.

Public Functions

AliceString() noexcept¶: Default constructor. Creates an empty string.

explicit AliceString(const char *c_str) noexcept¶

Construct from a null-terminated C string.

Parameters:: c_str – Null-terminated C string (may be nullptr for empty).

AliceString(const char *data, uint64_t n) noexcept¶

Construct from a data pointer and length.

Parameters:

data – Pointer to character data (may be nullptr for empty).
n – Number of characters to copy from data.

AliceString(const AliceString &other) noexcept¶

Copy constructor. Deep copy of the string.

Parameters:: other – String to copy from.

AliceString &operator=(const AliceString &other) noexcept¶

Copy assignment. Deep copy of the string.

Parameters:: other – String to copy from.
Returns:: Reference to this string.

AliceString(AliceString &&other) noexcept¶

Move constructor. Transfers ownership.

Parameters:: other – String to move from.

AliceString &operator=(AliceString &&other) noexcept¶

Move assignment. Transfers ownership.

Parameters:: other – String to move from.
Returns:: Reference to this string.

AliceString &operator=(const char *c_str) noexcept¶

Assign from a null-terminated C string.

Parameters:: c_str – Null-terminated C string (may be nullptr for empty).
Returns:: Reference to this string.

~AliceString() noexcept¶: Destructor. Releases owned memory.

uint64_t size() const noexcept¶

Get the number of characters in the string.

Returns:: String size (number of characters, not including null terminator).

const char *c_str() const noexcept¶

Get a pointer to the null-terminated C string.

Returns:: Pointer to null-terminated character data (never nullptr).

bool empty() const noexcept¶

Check if the string is empty.

Returns:: True if the string is empty.

char &operator[](uint64_t i) noexcept¶

Access character at index.

Parameters:: i – Index of character (no bounds check).
Returns:: Reference to character.

const char &operator[](uint64_t i) const noexcept¶

Access character at index (const).

Parameters:: i – Index of character (no bounds check).
Returns:: Const reference to character.

inline char *begin() noexcept¶

Iterator to beginning of string data.

Returns:: Pointer to first character.

inline char *end() noexcept¶

Iterator to end of string data.

Returns:: Pointer one past the last character.

inline const char *begin() const noexcept¶

Const iterator to beginning of string data.

Returns:: Pointer to first character.

inline const char *end() const noexcept¶

Const iterator to end of string data.

Returns:: Pointer one past the last character.

void clear() noexcept¶: Clear the string, making it empty.

void reserve(uint64_t n) noexcept¶

Reserve memory for at least n characters.

Parameters:: n – Minimum capacity to reserve.

void shrink_to_fit() noexcept¶: Shrink capacity to fit the current size.

void resize(uint64_t n, char fill = '\0') noexcept¶

Resize the string to n characters, filling with fill if needed.

Parameters:

n – New size.
fill – Character to use for new elements (default ‘\0’).

void push_back(char ch) noexcept¶

Append a character to the end of the string.

Parameters:: ch – Character to append.

void append(const char *c_str) noexcept¶

Append a null-terminated C string.

Parameters:: c_str – Null-terminated C string (may be nullptr for no-op).

void append(const char *data, uint64_t n) noexcept¶

Append data from a pointer and length.

Parameters:

data – Pointer to data (may be nullptr for no-op).
n – Number of characters to append.

void append(const AliceString &other) noexcept¶

Append another AliceString.

Parameters:: other – String to append.

Additional Resources¶

Advanced C++ API - Detailed intrinsics, error handling, JSON I/O, and advanced utilities