Struct VoxelGridDownsampleConfig 

pub struct VoxelGridDownsampleConfig {
    pub leaf_size: f32,
    pub origin: Option<Vec3<f32>>,
    pub mode: VoxelAggregationMode,
    pub attribute_policy: AttributeAggregation,
    pub gpu_min_points: Option<usize>,
}

Configuration for voxel-grid downsampling.

Fields

leaf_size: f32

Voxel edge length in meters.

origin: Option<Vec3<f32>>

Optional grid origin. Defaults to the cloud minimum corner.

mode: VoxelAggregationMode

Position aggregation mode.

attribute_policy: AttributeAggregation

Aggregation policy for other fields.

gpu_min_points: Option<usize>

Minimum input point count before GPU execution is considered worthwhile.

None always uses GPU when requested. Defaults follow local bench results: centroid ~500k, approximate-first ~2M (1M end-to-end still CPU-favored).

Approximate-first Auto also consults the input schema: clouds with APPROXIMATE_HEAVY_F32_ATTRIBUTE_CHANNELS or more non-position F32 fields (e.g. point_xyzinormal) use DEFAULT_GPU_MIN_POINTS_APPROXIMATE_HEAVY.

Implementations

impl VoxelGridDownsampleConfig

pub fn centroid(leaf_size: f32) -> Self

Creates a centroid downsampling config with uniform leaf size.

pub fn approximate(leaf_size: f32) -> Self

Creates an approximate first-point downsampling config.

pub const fn without_gpu_min_points(self) -> Self

Disables the GPU point-count heuristic so GPU is always used when requested.

pub fn effective_gpu_min_points(&self, schema: &PointSchema) -> Option<usize>

Returns the point-count threshold used by ExecutionPolicy::Auto.

Approximate-first mode raises the effective threshold to DEFAULT_GPU_MIN_POINTS_APPROXIMATE_HEAVY when the schema carries many F32 attributes (Epic 38 regression, Epic 46 crossover at 1M+).

Trait Implementations

impl Clone for VoxelGridDownsampleConfig

fn clone(&self) -> VoxelGridDownsampleConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VoxelGridDownsampleConfig

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

Formats the value using the given formatter.

impl PartialEq for VoxelGridDownsampleConfig

fn eq(&self, other: &VoxelGridDownsampleConfig) -> 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 Copy for VoxelGridDownsampleConfig

impl StructuralPartialEq for VoxelGridDownsampleConfig