Struct RansacPlaneSegmenter 

pub struct RansacPlaneSegmenter { /* private fields */ }

RANSAC-based dominant plane segmenter.

Implementations

impl RansacPlaneSegmenter

pub const fn new(config: RansacPlaneConfig) -> RansacPlaneSegmenter

Creates a segmenter from config.

pub const fn config(&self) -> RansacPlaneConfig

Returns the segmenter config.

pub fn segment( &self, input: &PointCloud, ) -> Result<RansacPlaneSegmentation, SpatialError>

Segments the dominant plane and returns inlier/outlier clouds.

pub fn segment_with_policy( &self, input: &PointCloud, policy: ExecutionPolicy, ) -> Result<RansacPlaneSegmentation, SpatialError>

Segments the dominant plane using the given execution policy.

With the segment-ransac-plane-gpu feature, ExecutionPolicy::Auto runs hypothesis scoring on wgpu when the input meets RansacPlaneConfig::effective_gpu_min_points. An explicit GPU policy is strict and does not use the threshold; use Auto for fallback.

pub fn segment_with_policy_and_receipt( &self, input: &PointCloud, policy: ExecutionPolicy, ) -> Result<ExecutionOutput<RansacPlaneSegmentation>, SpatialError>

Segments a plane and returns execution/transfer accounting.

pub fn extract_outliers( &self, input: &PointCloud, ) -> Result<PointCloud, SpatialError>

Returns only the outlier cloud after removing the dominant plane.

Trait Implementations

impl Clone for RansacPlaneSegmenter

fn clone(&self) -> RansacPlaneSegmenter

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RansacPlaneSegmenter

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl PartialEq for RansacPlaneSegmenter

fn eq(&self, other: &RansacPlaneSegmenter) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PointCloudSegmenter for RansacPlaneSegmenter

fn name(&self) -> &'static str

Human-readable segmenter name.

impl Copy for RansacPlaneSegmenter

impl StructuralPartialEq for RansacPlaneSegmenter