Crate spatialrust_segmentation 

Point cloud segmentation for SpatialRust.

Structs

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.

GpuEuclideanClusterExtractor

GPU-grid-backed Euclidean cluster extractor.

GpuRansacPlaneSegmenter

GPU-accelerated RANSAC plane segmenter.

GroundConfig

Configuration for GroundSegmenter.

GroundSegmentation

Result of ground segmentation.

GroundSegmenter

Grid-based ground segmenter.

MultiPlaneConfig

Configuration for MultiPlaneSegmenter.

MultiPlaneSegmentation

Result of multi-plane segmentation.

MultiPlaneSegmenter

Sequential RANSAC multi-plane segmenter.

PlaneModel

Plane model in Hessian form: normal · p + d = 0 with unit normal.

PrimitiveSegmentation

Result of fitting a primitive, partitioning the cloud into inliers/outliers.

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.

SphereModel

Sphere model: all surface points are radius from center.

Enums

UpAxis

Which axis points “up” (its minimum defines local ground height).

Constants

DEFAULT_GPU_KDTREE_MIN_POINTS

Minimum point count before GPU Euclidean clustering uses KD-tree BFS instead of grid UF.

DEFAULT_GPU_MIN_POINTS_EUCLIDEAN

Minimum point count before GPU Euclidean clustering is selected under Auto.

DEFAULT_GPU_MIN_POINTS_PLANE

Minimum point count before GPU RANSAC plane scoring is selected under Auto.

Traits

PointCloudSegmenter

Common trait for point cloud segmentation algorithms.

Functions

extract_indices

Extracts a sub-cloud containing only the selected point indices.

extract_mask

Extracts points where mask[index] is true.

with_labels

Adds or replaces a per-point label field on a point cloud copy.