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MvpPipelineConfig

spatialrust_pipeline

Struct MvpPipelineConfig

pub struct MvpPipelineConfig {
    pub voxel: VoxelGridDownsampleConfig,
    pub normals: NormalEstimationConfig,
    pub plane: RansacPlaneConfig,
    pub cluster: EuclideanClusterConfig,
    pub icp: Option<MvpIcpConfig>,
    pub voxel_policy: ExecutionPolicy,
    pub plane_policy: ExecutionPolicy,
    pub normal_policy: ExecutionPolicy,
    pub normal_gpu_radius_scale: f32,
    pub cluster_policy: ExecutionPolicy,
}

Expand description

Full configuration for the MVP pipeline.

Fields§

§voxel: VoxelGridDownsampleConfig

Voxel downsampling settings.

§normals: NormalEstimationConfig

Normal estimation settings.

§plane: RansacPlaneConfig

Dominant plane segmentation settings.

§cluster: EuclideanClusterConfig

Euclidean clustering settings for non-plane points.

§icp: Option<MvpIcpConfig>

Optional ICP registration against the downsampled reference cloud.

§voxel_policy: ExecutionPolicy

Execution policy for the voxel downsampling stage.

§plane_policy: ExecutionPolicy

Execution policy for the RANSAC plane segmentation stage.

§normal_policy: ExecutionPolicy

Execution policy for normal estimation.

§normal_gpu_radius_scale: f32

Optional multiplier for GPU normal grid radius (leaf_size * scale) under GPU Auto/Gpu.

§cluster_policy: ExecutionPolicy

Execution policy for Euclidean clustering.

Implementations§

impl MvpPipelineConfig

pub fn with_voxel_leaf_size(leaf_size: f32) -> Self

Creates a config with the given voxel leaf size.

Trait Implementations§

impl Clone for MvpPipelineConfig

fn clone(&self) -> MvpPipelineConfig

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

impl Debug for MvpPipelineConfig

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

Formats the value using the given formatter. Read more

impl Default for MvpPipelineConfig

fn default() -> Self

Returns the “default value” for a type. Read more

impl PartialEq for MvpPipelineConfig

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

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

1.0.0 (const: unstable) · Source§

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 StructuralPartialEq for MvpPipelineConfig

Auto Trait Implementations§

impl Freeze for MvpPipelineConfig

impl RefUnwindSafe for MvpPipelineConfig

impl Send for MvpPipelineConfig

impl Sync for MvpPipelineConfig

impl Unpin for MvpPipelineConfig

impl UnsafeUnpin for MvpPipelineConfig

impl UnwindSafe for MvpPipelineConfig

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> Downcast<T> for T

fn downcast(&self) -> &T

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> Upcast<T> for T

fn upcast(&self) -> Option<&T>

impl<T> WasmNotSend for T
where T: Send,

impl<T> WasmNotSendSync for T
where T: WasmNotSend + WasmNotSync,

impl<T> WasmNotSync for T
where T: Sync,