Crate spatialrust_transform 

Geometric transforms and cloud utilities for SpatialRust.

Affine transforms, recentering and scale normalization, cloud merging, and bounding-volume computation — the small operations every pipeline needs.

Structs

Aabb

Axis-aligned bounding box.

Obb

Oriented bounding box recovered from the principal axes of a cloud.

Functions

apply_transform

Applies a 4×4 affine transform to a cloud’s positions (and normals, if present — normals are rotated by the linear part and renormalized).

bounding_box

Axis-aligned bounding box of a cloud.

centroid

Centroid (mean position) of a cloud.

merge_clouds

Concatenates clouds that share an identical schema into one cloud.

normalize_unit_sphere

Recenters a cloud and scales it so its farthest point is at unit distance — the canonical normalization for learned point-cloud models.

oriented_bounding_box

Oriented bounding box via principal component analysis of the positions.

recenter

Translates a cloud so its centroid sits at the origin.

scale_cloud

Uniformly scales a cloud about the origin by factor.