Struct Scene 

pub struct Scene {
    pub kind: SceneKind,
    pub params: SceneParams,
    pub points: Vec<Vector3<f64>>,
    pub cloud: PointCloud,
    pub normals: Vec<Vector3<f64>>,
    pub inlier_count: usize,
}

A generated scene.

Fields

kind: SceneKind

Which surface.

params: SceneParams

The parameters it was built with.

points: Vec<Vector3<f64>>

Exact point coordinates in f64.

The scene is a mathematical object; the cloud is its in-memory representation. Keeping them apart is mandatory, because f32 storage destroys exact identities on curved surfaces. On a cylinder (p × n)_z is identically zero, yet after quantisation it becomes about 3·10⁻⁸ of the scene scale. Analytical claims are checked against this field; all processing runs on cloud.

cloud: PointCloud

The points in working form: f32 relative to an origin.

normals: Vec<Vector3<f64>>

The exact analytical normal at each point.

Analytical, not estimated from neighbours: normal-estimation error is a separate source of inaccuracy and must not be mixed into geometric degeneracy.

inlier_count: usize

The first inlier_count points lie on the surface; the rest are outliers.

The null-space guarantee applies to inliers only: an outlier is not on the surface, and the declared vector does not annihilate its Jacobian row.

Implementations

impl Scene

pub fn generate(kind: SceneKind, params: SceneParams) -> Self

Builds the scene.

pub fn nullspace(&self) -> Vec<Vector6<f64>>

The analytical basis of the null space.

pub fn nullspace_dimension(&self) -> usize

Dimension of the null space.

pub fn len(&self) -> usize

Number of points.

pub fn is_empty(&self) -> bool

Whether the scene is empty.

pub fn split_with_overlap( &self, overlap: f64, seed: u64, ) -> (PointCloud, PointCloud)

Splits the scene into two partially overlapping clouds.

A fraction overlap of the points goes into both clouds; the rest is divided evenly. Needed for source/target pairs in registration: full overlap is an unrealistic and far too easy case.

Trait Implementations

impl Clone for Scene

fn clone(&self) -> Scene

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Scene

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

Formats the value using the given formatter.