Struct PointCloudSceneGraphBuilder 

pub struct PointCloudSceneGraphBuilder { /* private fields */ }

Builds SceneGraph instances from point clouds or pre-classified object lists using spatial-hash clustering with union-find.

Implementations

impl PointCloudSceneGraphBuilder

pub fn new(config: SceneGraphConfig) -> Self

Create a new builder with the given configuration.

pub fn build_from_point_cloud(&self, cloud: &PointCloud) -> SceneGraph

Build a scene graph by clustering a raw point cloud.

1. Points are discretised into a spatial hash grid.
2. Adjacent cells are merged via union-find.
3. Each cluster above min_cluster_size becomes a SceneObject.
4. Edges are created between objects whose centres are within edge_distance_threshold.

pub fn build_from_objects(&self, objects: &[SceneObject]) -> SceneGraph

Build a scene graph from a pre-existing list of objects.

Edges are created between objects whose centres are within edge_distance_threshold.

pub fn merge_scenes(&self, scenes: &[SceneGraph]) -> SceneGraph

Merge multiple scene graphs into one, deduplicating objects that share the same id.

Trait Implementations

impl Clone for PointCloudSceneGraphBuilder

fn clone(&self) -> PointCloudSceneGraphBuilder

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PointCloudSceneGraphBuilder

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

Formats the value using the given formatter.