Struct KdTree 

pub struct KdTree { /* private fields */ }

Cache-friendly KD-tree for 3D point clouds.

Implementations

impl KdTree

pub fn from_slices(x: &[f32], y: &[f32], z: &[f32]) -> Self

Builds a KD-tree from coordinate slices.

pub fn from_point_cloud(cloud: &PointCloud) -> SpatialResult<Self>

Builds a KD-tree from any point cloud with XYZ positions.

pub fn radius_reaches( &self, x: f32, y: f32, z: f32, radius: f32, target: usize, ) -> bool

Returns whether at least target points lie within radius of the query, stopping as soon as the threshold is reached. Unlike radius_search this allocates nothing and early-exits, which is much faster for density tests (outlier removal).

impl KdTree

pub fn nearest_k_into( &self, x: f32, y: f32, z: f32, k: usize, out: &mut Vec<Neighbor>, )

Finds up to k nearest neighbors sorted by ascending distance, reusing the caller-provided output buffer.

pub fn nearest_k_unsorted_into( &self, x: f32, y: f32, z: f32, k: usize, out: &mut Vec<Neighbor>, )

Finds up to k nearest neighbors without sorting the result, reusing the caller-provided output buffer. This is faster for callers that only need the neighbor set, such as covariance and mean-distance calculations.

Trait Implementations

impl Clone for KdTree

fn clone(&self) -> KdTree

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for KdTree

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

Formats the value using the given formatter.

impl NearestNeighborIndex for KdTree

fn nearest_one(&self, x: f32, y: f32, z: f32) -> Option<Neighbor>

Finds the single nearest neighbor.

fn nearest_k(&self, x: f32, y: f32, z: f32, k: usize) -> Vec<Neighbor>

Finds up to k nearest neighbors sorted by ascending distance.

impl RadiusSearchIndex for KdTree

fn radius_search(&self, x: f32, y: f32, z: f32, radius: f32) -> Vec<Neighbor>

Finds all neighbors within radius (not squared).

impl SpatialIndex for KdTree

fn len(&self) -> usize

Returns the number of indexed points.

fn is_empty(&self) -> bool

Returns whether the index is empty.