Expand description
Voxel occupancy / feature grids for SpatialRust.
Turns a point cloud into a dense 3D grid — the tensor representation learned
models consume (3D CNNs, occupancy networks). The grid is row-major in
(z, y, x) order so it reshapes directly to an (nz, ny, nx) array.
Structs§
- Occupancy
Grid - A dense 3D grid in row-major
(z, y, x)order. - Range
Image - A dense range image in row-major order (
row * width + col). - Range
Image Config - Configuration for
range_image. - Voxel
Grid Config - Configuration for
voxelize.
Enums§
- Voxel
Fill - How a voxel’s value is filled from the points that fall in it.
Functions§
- range_
image - Projects a cloud into a spherical range image, keeping the nearest range per pixel. Points outside the vertical field of view are dropped.
- voxelize
- Voxelizes a cloud into a dense occupancy / count grid.