Advanced C++ API¶

Advanced functions, detailed intrinsics, error handling, and utility classes for C++ developers.

Functions¶

Detailed Intrinsics Estimation¶

Result<IntrinsicsDetailed> alice_lri::estimateIntrinsicsDetailed(const PointCloud::Float &points) noexcept¶

Estimate detailed sensor intrinsics from a float point cloud.

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

Result<IntrinsicsDetailed> alice_lri::estimateIntrinsicsDetailed(const PointCloud::Double &points) noexcept¶

Estimate detailed sensor intrinsics from a double point cloud.

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

JSON Serialization¶

Result<Intrinsics> alice_lri::intrinsicsFromJsonStr(const AliceString &json) noexcept¶

Parse Intrinsics from a JSON string.

Parameters:: json – JSON string.
Returns:: Result containing Intrinsics or error status.

AliceString alice_lri::intrinsicsToJsonStr(const Intrinsics &result, int32_t indent = -1) noexcept¶

Serialize Intrinsics to a JSON string.

Parameters:

result – Intrinsics to serialize.
indent – Indentation for pretty printing (-1 for compact).

Returns:

JSON string.

Result<Intrinsics> alice_lri::intrinsicsFromJsonFile(const char *path) noexcept¶

Parse Intrinsics from a JSON file.

Parameters:: path – Path to JSON file.
Returns:: Result containing Intrinsics or error status.

Status alice_lri::intrinsicsToJsonFile(const Intrinsics &result, const char *outputPath, int32_t indent = -1) noexcept¶

Write Intrinsics to a JSON file.

Parameters:

result – Intrinsics to write.
outputPath – Output file path.
indent – Indentation for pretty printing (-1 for compact).

Returns:

Status of the operation.

Data Structures¶

Detailed Intrinsics¶

struct IntrinsicsDetailed¶

Detailed intrinsic parameters, including scanline details and statistics.

Public Functions

inline explicit IntrinsicsDetailed(const int32_t scanlineCount) noexcept¶

Construct with a given number of scanlines.

Parameters:: scanlineCount – Number of scanlines.

inline IntrinsicsDetailed(const int32_t scanlineCount, const int32_t verticalIterations, const int32_t unassignedPoints, const int32_t pointsCount, const EndReason endReason) noexcept¶

Full constructor with all statistics.

Parameters:

scanlineCount – Number of scanlines.
verticalIterations – Number of vertical iterations.
unassignedPoints – Number of unassigned points.
pointsCount – Total number of points.
endReason – Reason for ending the iterative algorithm.

Public Members

AliceArray<ScanlineDetailed> scanlines¶: Array of detailed scanlines.

int32_t verticalIterations = 0¶: Number of vertical iterations performed.

int32_t unassignedPoints = 0¶: Number of unassigned points.

int32_t pointsCount = 0¶: Total number of points.

EndReason endReason = EndReason::MAX_ITERATIONS ¶: Reason for ending the process.

struct ScanlineDetailed¶

Detailed scanline information with uncertainty and voting statistics.

Public Members

ValueConfInterval verticalOffset¶: Vertical spatial offset with confidence interval.

ValueConfInterval verticalAngle¶: Vertical angle with confidence interval.

double horizontalOffset¶: Horizontal spatial offset.

double azimuthalOffset¶: Azimuthal offset.

int32_t resolution¶: Horizontal resolution of the scanline.

double uncertainty¶: Estimated uncertainty.

int64_t houghVotes¶: Number of Hough transform votes.

uint64_t houghHash¶: Hash value for Hough voting.

uint64_t pointsCount¶: Number of points assigned to this scanline.

ScanlineAngleBounds theoreticalAngleBounds¶: Theoretical angle bounds for the scanline.

bool verticalHeuristic¶: Whether vertical heuristic was used.

bool horizontalHeuristic¶: Whether horizontal heuristic was used.

struct ScanlineAngleBounds¶

Angle bounds for a scanline.

Public Members

Interval lowerLine¶: Lower angle interval.

Interval upperLine¶: Upper angle interval.

Mathematical Utilities¶

struct Interval¶

Represents a numeric interval [lower, upper].

Public Functions

inline double diff() const noexcept¶

Get the width of the interval.

Returns:: Difference upper - lower.

bool anyContained(const Interval &other) const noexcept¶

Check if any part of another interval is contained in this interval.

Parameters:: other – The other interval.
Returns:: True if any part is contained.

void clampBoth(double minValue, double maxValue) noexcept¶

Clamp both bounds to [minValue, maxValue].

Parameters:

minValue – Minimum value.
maxValue – Maximum value.

Public Members

double lower¶: Lower bound of the interval.

double upper¶: Upper bound of the interval.

struct ValueConfInterval¶

Value with associated confidence interval.

Public Members

double value¶: The value.

Interval ci¶: Confidence interval for the value.

Error Handling¶

Status and Error Codes¶

struct Status¶

Status of an operation, including error code and message.

Public Functions

inline explicit operator bool() const noexcept¶

Check if status is OK (no error).

Returns:: True if no error.

Public Members

ErrorCode code = ErrorCode::NONE ¶: Error code.

AliceString message = AliceString()¶: Error message.

Public Static Functions

static inline Status buildOk() noexcept¶

Build a successful status.

Returns:: Status with no error.

static inline Status buildError(const ErrorCode c) noexcept¶

Build an error status from code.

Parameters:: c – Error code.
Returns:: Status with error code and message.

static inline Status buildError(const ErrorCode c, const AliceString &msg) noexcept¶

Build an error status from code and custom message.

Parameters:

c – Error code.
msg – Custom message.

Returns:

Status with error code and custom message.

enum class alice_lri::ErrorCode¶

Error codes for Alice LRI operations.

Values:

enumerator NONE¶: No error.

enumerator MISMATCHED_SIZES¶: Input arrays have mismatched sizes.

enumerator EMPTY_POINT_CLOUD¶: Point cloud is empty.

enumerator RANGES_XY_ZERO¶: At least one point has a range of zero in the XY plane.

enumerator INTERNAL_ERROR¶: Internal error occurred.

AliceString alice_lri::errorMessage(ErrorCode code)¶

Get a human-readable error message for an ErrorCode.

Parameters:: code – Error code.
Returns:: Error message string.

Enums¶

enum class alice_lri::EndReason¶

Reason for ending the iterative vertical fitting process.

Values:

enumerator ALL_ASSIGNED¶: All points assigned. This is the normal termination condition.

enumerator MAX_ITERATIONS¶: Maximum number of iterations reached.

enumerator NO_MORE_PEAKS¶: No more peaks found in the Hough accumulator.