Module cloud 

Point cloud post-processing: Sim3 transform, proximity masking against the refined cloud, 1/N thinning, snapshot composition.

Structs

SnapshotOptions

Snapshot composition options.

Functions

compose_snapshot

Snapshot = all refined zones + the preview zones (not overlapping refined points), then 1/N thinning. All inputs must already be in the same coordinate frame.

decimate

Takes every stride-th point (indices 0, stride, 2·stride, …). Unchanged if stride ≤ 1.

merge_clouds

Concatenation. If only some clouds have normals/colors, the missing ones are filled with (0,0,0) normals / white. Keys are kept only if every non-empty cloud has them.

remove_near

Point cloud without the points within distance ≤ radius of reference (removes preview points that overlap refined points).

select

New point cloud keeping only the points where mask[i] is true.

transform_cloud

Applies a Sim3 to points and normals (points: sRx+t, normals: Rn). Computed in f64.