Struct PointIndex

pub struct PointIndex { /* private fields */ }

A uniform-grid index over a point set.

A grid rather than a k-d tree because scan data is dense and roughly uniform: bucketing is O(n) to build with no comparisons, and a radius query touches only the cells the sphere overlaps. A k-d tree wins on wildly non-uniform data, which is why this type is deliberately not the only shape the API could take — the query methods are what callers use, so the structure can change without moving them.

Implementations

impl PointIndex

pub fn build(points: &[Point3]) -> Self

Build an index over the given positions.

Non-finite positions are dropped from the index and reported by rejected; they are not silently treated as present at the origin, which would corrupt every query near it.

pub fn len(&self) -> usize

Number of positions the index was built over, including rejected.

pub fn is_empty(&self) -> bool

Whether the index holds no positions.

pub fn rejected(&self) -> usize

Positions dropped because they were not finite.

pub fn for_each_within( &self, query: Point3, radius: Scalar, visit: impl FnMut(PointHit), ) -> Result<(), PointQueryError>

Visit every point within radius of query.

Results are exact and complete. Visit order is unspecified; use radius_into when order matters.

Errors

Refuses a non-finite query position and a negative or non-finite radius, rather than returning an empty result that a caller could mistake for “nothing nearby”.

pub fn radius_into( &self, query: Point3, radius: Scalar, out: &mut Vec<PointHit>, ) -> Result<(), PointQueryError>

Collect every point within radius, ordered by distance then index.

The vector is cleared first, so a caller may reuse one buffer across many queries and allocate once.

Errors

As for_each_within.

pub fn nearest_into( &self, query: Point3, k: usize, out: &mut Vec<PointHit>, ) -> Result<(), PointQueryError>

Collect the k nearest points, ordered by distance then index.

Fewer than k are returned when the cloud holds fewer usable points; that is a complete answer, not a truncated one.

Errors

Refuses a non-finite query position.

pub fn nearest( &self, query: Point3, ) -> Result<Option<PointHit>, PointQueryError>

The single nearest point, if the cloud has a usable one.

Errors

Refuses a non-finite query position.

Trait Implementations

impl Clone for PointIndex

fn clone(&self) -> PointIndex

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for PointIndex

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

Formats the value using the given formatter.