Struct OccupancyGrid 

pub struct OccupancyGrid {
    pub data: Vec<bool>,
    pub resolution: usize,
    pub scene_bound: f32,
}

3D occupancy grid for fast ray marching.

The scene is assumed to span [-scene_bound, scene_bound]^3. The grid has resolution^3 voxels.

Fields

data: Vec<bool>

Flat bool occupancy: [resolution * resolution * resolution].

resolution: usize

Grid resolution per axis.

scene_bound: f32

Scene half-extent: scene spans [-bound, bound]^3.

Implementations

impl OccupancyGrid

pub fn new(resolution: usize, scene_bound: f32) -> NerfResult<Self>

Create a new occupancy grid, all empty.

Errors

Returns InvalidGridResolution if resolution == 0.

pub fn set( &mut self, ix: usize, iy: usize, iz: usize, occupied: bool, ) -> NerfResult<()>

Mark a voxel as occupied/empty.

Errors

Returns HashLevelOutOfRange if any index exceeds the resolution.

pub fn get(&self, ix: usize, iy: usize, iz: usize) -> NerfResult<bool>

Query occupancy of a voxel.

Errors

Returns HashLevelOutOfRange if any index exceeds the resolution.

pub fn is_occupied_world(&self, xyz: [f32; 3]) -> bool

Query if a world-space point lies in an occupied voxel.

Points outside [-scene_bound, scene_bound]^3 are considered empty.

pub fn update_from_density( &mut self, density: &[f32], threshold: f32, ) -> NerfResult<()>

Update occupancy from density values using a threshold.

density must have exactly resolution^3 elements.

Errors

Returns DimensionMismatch if sizes don’t match.

pub fn march_ray_occupied( &self, ray: &Ray, t_near: f32, t_far: f32, step_size: f32, ) -> Vec<f32>

March a ray and return t values where the grid is occupied.

Steps along the ray with step_size and records t values for occupied voxels.

Trait Implementations

impl Clone for OccupancyGrid

fn clone(&self) -> OccupancyGrid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for OccupancyGrid

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

Formats the value using the given formatter.