Crate spatialrust

Expand description

SpatialRust meta crate.

Re-exports the stable public API surface. Application code should depend on this crate unless it needs direct access to a specific sub-crate.

Re-exports§

pub use spatialrust_core as core;
pub use spatialrust_features as features;
pub use spatialrust_filtering as filtering;
pub use spatialrust_gpu as gpu;
pub use spatialrust_io as io;
pub use spatialrust_math as math;
pub use spatialrust_metrics as metrics;
pub use spatialrust_pipeline as pipeline;
pub use spatialrust_registration as registration;
pub use spatialrust_search as search;
pub use spatialrust_segmentation as segmentation;
pub use spatialrust_transform as transform;
pub use spatialrust_voxelize as voxelize;

Structs§

Aabb: Axis-aligned bounding box used by CropBox.
BoundaryConfig: Configuration for BoundaryDetector.
BoundaryDetector: Tangent-plane boundary point detector. The input cloud must carry normals.
BoundaryResult: Result of boundary detection.
BruteForceIndex: Reference index using brute-force search for correctness tests.
CauchyKernel: Cauchy robust kernel.
CloudDistances: A bundle of directed and symmetric cloud-to-cloud distance statistics.
CopcBounds: Axis-aligned bounds for COPC spatial queries.
CopcFileInfo: Metadata exposed from a COPC header without loading point data.
CopcQuery: Spatial query parameters for partial COPC reads.
CopcWriterParams
Cov3: 3x3 symmetric covariance matrix.
CovarianceAccumulator3: Accumulates mean and covariance for 3D points.
CpuDevice: Default CPU device.
CropBox: Keeps (or, when invert is set, drops) points inside an axis-aligned box.
CylinderModel: Cylinder model: all surface points are radius from the axis line.
DbscanConfig: Configuration for DBSCAN density-based clustering.
DbscanResult: Result of DBSCAN clustering.
DbscanSegmenter: DBSCAN density-based segmenter.
EuclideanClusterConfig: Configuration for Euclidean clustering.
EuclideanClusterExtractor: Euclidean region-growing cluster extractor.
EuclideanClusterResult: Result of Euclidean clustering.
FarthestPointSampling: Farthest Point Sampling downsampler.
FarthestPointSamplingConfig: Configuration for FarthestPointSampling.
FpfhRansacConfig: Configuration for FpfhRansacRegistration.
FpfhRansacRegistration: FPFH + RANSAC global registration.
FrameId: Coordinate frame identifier.
GicpConfig: Configuration for Generalized ICP (plane-to-plane).
GicpRegistration: Generalized ICP registration.
GpuNormalEstimator: GPU-accelerated normal estimator.
GroundConfig: Configuration for GroundSegmenter.
GroundSegmentation: Result of ground segmentation.
GroundSegmenter: Grid-based ground segmenter.
HttpByteSource: Random-access COPC byte source backed by HTTP range requests.
HuberKernel: Huber robust kernel.
IcpConfig: Configuration for point-to-point ICP.
IcpRegistration: Point-to-point ICP registration.
Isometry3: Proper rigid transform: rotation + translation without scale/shear.
IssKeypointConfig: Configuration for IssKeypointDetector.
IssKeypointDetector: Intrinsic Shape Signatures keypoint detector.
IssKeypointResult: Result of ISS keypoint detection.
KdTree: Cache-friendly KD-tree for 3D point clouds.
KdTreeNeighborhood: KD-tree backed neighborhood provider.
Mat3: 3x3 matrix stored in row-major order.
Mat4: 4x4 matrix stored in row-major order.
MlsConfig: Configuration for MlsSmoothing.
MlsSmoothing: Moving Least Squares smoothing filter.
MultiPlaneConfig: Configuration for MultiPlaneSegmenter.
MultiPlaneSegmentation: Result of multi-plane segmentation.
MultiPlaneSegmenter: Sequential RANSAC multi-plane segmenter.
MvpIcpConfig: Configuration for optional ICP in the MVP pipeline.
MvpPipeline: Builder-style MVP pipeline runner.
MvpPipelineConfig: Full configuration for the MVP pipeline.
MvpPipelineResult: Output of a completed MVP pipeline run.
NdtConfig: Configuration for NDT (Normal Distributions Transform) registration.
NdtRegistration: NDT registration (point-to-distribution).
Neighbor: One neighbor search result.
NeighborGraph: A directed neighborhood graph over a point cloud.
NormalEstimationConfig: Configuration for covariance-based normal estimation.
NormalEstimationResult: Result metadata for normal estimation.
NormalEstimator: Covariance-based normal estimator.
NormalOrientationConfig: Configuration for orient_normals_consistent.
Obb: Oriented bounding box recovered from the principal axes of a cloud.
OccupancyGrid: A dense 3D grid in row-major (z, y, x) order.
PassThrough: Keeps (or drops) points whose value in a named field falls within a range.
PlaneModel: Plane model in Hessian form: normal · p + d = 0 with unit normal.
PointCloud: Schema-aware columnar point cloud stored on a device.
PointCloudBuilder: Builds point clouds field-by-field.
PointField: One column in a point cloud schema.
PointSchema: Schema describing the columns of a point cloud.
PointToPlaneIcp: Point-to-plane ICP registration.
PointToPlaneIcpConfig: Configuration for point-to-plane ICP.
Pose3: Pose with optional translation covariance.
PrimitiveSegmentation: Result of fitting a primitive, partitioning the cloud into inliers/outliers.
Quat: Unit quaternion representing a 3D rotation.
RadiusOutlierConfig: Configuration for RadiusOutlierRemoval.
RadiusOutlierRemoval: Radius Outlier Removal (ROR).
RangeImage: A dense range image in row-major order (row * width + col).
RangeImageConfig: Configuration for range_image.
RansacCylinderSegmenter: RANSAC cylinder segmenter. The input cloud must carry normals.
RansacPlaneConfig: Configuration for RANSAC plane segmentation.
RansacPlaneSegmentation: Result of RANSAC plane segmentation.
RansacPlaneSegmenter: RANSAC-based dominant plane segmenter.
RansacPrimitiveConfig: Shared RANSAC controls for primitive fitting.
RansacSphereSegmenter: RANSAC sphere segmenter.
RegionGrowingConfig: Configuration for normal-based region growing segmentation.
RegionGrowingResult: Result of region growing segmentation.
RegionGrowingSegmenter: Normal-based region growing segmenter.
RegistrationResult: Result of a registration run.
SpatialMetadata: Spatial metadata attached to point clouds and maps.
SphereModel: Sphere model: all surface points are radius from center.
StandardSchemas: Standard schemas used by typed views and IO adapters.
StatisticalOutlierConfig: Configuration for StatisticalOutlierRemoval.
StatisticalOutlierRemoval: Statistical Outlier Removal (SOR).
SymmetricEigen3: Result of a symmetric 3x3 eigendecomposition.
Timestamp: Timestamp in nanoseconds since an arbitrary epoch.
Transform3: Rigid transform represented as a 4x4 matrix.
TransformAabb: Axis-aligned bounding box.
TukeyKernel: Tukey biweight robust kernel.
Vec2: 2D vector.
Vec3: 3D vector.
Vec4: 4D vector.
VoxelGridConfig: Configuration for voxelize.
VoxelGridDownsample: Voxel-grid downsampling filter.
VoxelGridDownsampleConfig: Configuration for voxel-grid downsampling.

Enums§

AttributeAggregation: Attribute aggregation policy for non-position fields.
DType: Supported scalar dtypes for point fields.
DeviceKind: Device kind supported by SpatialRust execution.
ExecutionPolicy: Execution policy for spatial algorithms.
FieldSemantic: Semantic meaning of a point field.
IoError: IO-specific error type for SpatialRust.
LasWriteFormat: Output encoding for LAS writers.
LeastSquaresResult: Result of a small dense linear solve.
MvpRegistrationMethod: Registration backend used by the MVP pipeline’s optional alignment step.
PcdWriteFormat: Output encoding for PCD writers.
PlyWriteFormat: Output encoding for PLY writers.
PointBuffer: Typed column buffer for one point field.
PointCloudFileFormat: Supported point cloud file formats detected from file extensions.
SpatialError: Core error type for SpatialRust.
UpAxis: Which axis points “up” (its minimum defines local ground height).
VoxelAggregationMode: Voxel aggregation strategy.
VoxelFill: How a voxel’s value is filled from the points that fall in it.

Constants§

FPFH_DESCRIPTOR_LEN: Length of an FPFH descriptor (33: three 11-bin angular histograms).

Traits§

Device: Minimal device abstraction defined in core and extended by spatialrust-gpu.
FeatureEstimator: Computes point-wise features from an input point cloud.
HasIntensity: Capability trait for point clouds with intensity values.
HasNormals3: Capability trait for point clouds with surface normals.
HasPositions3: Capability trait for point clouds with 3D positions.
NearestNeighborIndex: Exact nearest neighbor queries.
NeighborhoodProvider: Neighborhood query abstraction for feature estimation.
PointCloudFilter: Point cloud filter interface.
PointCloudRegistration: Common trait for point cloud registration algorithms.
PointCloudSegmenter: Common trait for point cloud segmentation algorithms.
RadiusSearchIndex: Radius search queries.
Real: Floating-point scalar used by spatial algorithms.
RobustKernel: Robust loss kernel used by registration and estimation algorithms.
Scalar: Numeric types supported by SpatialRust math primitives.
SpatialAlgorithm: Common trait implemented by spatial algorithms.
SpatialIndex: Common spatial index operations.
TransformPoint: Trait for types that can transform 3D points.

Functions§

apply_transform: Applies a 4×4 affine transform to a cloud’s positions (and normals, if present — normals are rotated by the linear part and renormalized).
approx_eq: Returns whether two values are approximately equal.
approx_eq_f64: Returns whether two values are approximately equal.
bounding_box: Axis-aligned bounding box of a cloud.
brute_force_knn: Finds up to k nearest neighbors by brute force.
brute_force_radius: Finds all neighbors within radius by brute force.
centroid: Centroid (mean position) of a cloud.
chamfer_distance: Symmetric Chamfer distance between two clouds (sum of mean squared NN distances in both directions). Lower is better; zero for identical clouds.
cloud_distances: Computes directed NN distance statistics between a and b in both directions with a single KD-tree per side.
copc_level_for_resolution: Computes the shallowest octree level whose spacing is at most resolution.
detect_point_cloud_format: Detects a point cloud format from a file path extension.
estimate_rigid_transform: Estimates the rigid transform that best maps source onto target.
extract_indices: Extracts a sub-cloud containing only the selected point indices.
extract_mask: Extracts points where mask[index] is true.
f32_eps: Default tolerance for f32 comparisons.
f64_eps: Default tolerance for f64 comparisons.
fpfh_descriptors: Computes an FPFH descriptor for every point in cloud.
hausdorff_distance: Symmetric Hausdorff distance between two clouds (the largest NN distance in either direction). Captures the worst-case discrepancy.
knn_graph: Builds a directed k-nearest-neighbor graph: an edge from every point to each of its k nearest neighbors (excluding itself).
merge_clouds: Concatenates clouds that share an identical schema into one cloud.
normalize_unit_sphere: Recenters a cloud and scales it so its farthest point is at unit distance — the canonical normalization for learned point-cloud models.
orient_normal_towards_viewpoint: Orients a normal to point towards the viewpoint when possible.
orient_normals_consistent: Re-orients a cloud’s normals so neighboring normals agree in sign.
oriented_bounding_box: Oriented bounding box via principal component analysis of the positions.
radius_graph: Builds a directed radius graph: an edge from every point to each other point within radius.
range_image: Projects a cloud into a spherical range image, keeping the nearest range per pixel. Points outside the vertical field of view are dropped.
read_copc: Reads all points from a COPC file on disk.
read_copc_file: Reads all points from a COPC file on disk.
read_copc_file_in_bounds: Reads points inside a bounding box at full available detail.
read_copc_file_info: Reads COPC header metadata without loading points.
read_copc_file_with_query: Reads points using a spatial bounds and optional LOD limit.
read_copc_url: Reads all points from a remote COPC URL.
read_copc_url_info: Reads COPC header metadata from a remote URL without loading points.
read_copc_url_with_query: Reads points from a remote COPC URL using an optional spatial query.
read_e57: Reads all scans from an E57 file and merges them into one point cloud.
read_e57_file: Reads all scans from an E57 file and merges them into one point cloud.
read_las: Reads a complete LAS/LAZ stream.
read_las_file: Reads a LAS/LAZ file from disk.
read_pcd: Reads a complete PCD file from any buffered reader.
read_pcd_file: Reads a PCD file from disk.
read_ply: Reads a complete PLY file from any buffered reader.
read_ply_file: Reads a PLY file from disk.
read_point_cloud_file: Reads a point cloud from disk, dispatching on the file extension.
read_point_cloud_file_with_format: Reads a point cloud using an explicit format.
recenter: Translates a cloud so its centroid sits at the origin.
scale_cloud: Uniformly scales a cloud about the origin by factor.
smallest_eigenvector: Returns the eigenvector for the smallest eigenvalue.
solve_linear_system: Solves A x = b for square n x n systems using Gaussian elimination with partial pivoting.
symmetric_eigen3: Computes eigenvalues and eigenvectors of a symmetric 3x3 matrix.
transform_point_cloud: Applies a rigid transform to point positions and normals in a point cloud copy.
voxelize: Voxelizes a cloud into a dense occupancy / count grid.
with_labels: Adds or replaces a per-point label field on a point cloud copy.
write_copc: Writes a point cloud to a COPC file on disk.
write_copc_file: Writes a point cloud to a COPC file on disk.
write_copc_file_with_params: Writes a point cloud to a COPC file using custom octree builder parameters.
write_e57: Writes a point cloud to an E57 file on disk.
write_e57_file: Writes a point cloud to an E57 file on disk.
write_las: Writes a point cloud to a LAS/LAZ stream and returns the inner writer.
write_las_file: Writes a point cloud to a LAS/LAZ file on disk.
write_pcd: Writes a point cloud to a PCD stream.
write_pcd_file: Writes a point cloud to a PCD file on disk.
write_ply: Writes a point cloud to a PLY stream.
write_ply_file: Writes a point cloud to a PLY file on disk.
write_point_cloud_file: Writes a point cloud to disk, dispatching on the file extension.
write_point_cloud_file_with_format: Writes a point cloud using an explicit format.

Type Aliases§

FpfhDescriptor: A single FPFH descriptor.
SpatialResult: Result type used across SpatialRust crates.

Crate spatialrust

Crate spatialrust Copy item path

Re-exports§

Structs§

Enums§

Constants§

Traits§

Functions§

Type Aliases§

Crate spatialrust