Struct SceneGraphBuilder 

pub struct SceneGraphBuilder { /* private fields */ }

Builds a SceneGraph from detected obstacles or raw point clouds.

The builder clusters scene objects, computes spatial edges between nearby objects, and produces a timestamped scene graph.

Implementations

impl SceneGraphBuilder

pub fn new(edge_distance_threshold: f64, max_objects: usize) -> Self

Create a new builder with explicit parameters.

pub fn build(&self, objects: Vec<SceneObject>, timestamp: i64) -> SceneGraph

Build a scene graph from a list of SceneObjects.

Edges are created between every pair of objects whose centers are within edge_distance_threshold.

pub fn build_from_obstacles( &self, obstacles: &[DetectedObstacle], timestamp: i64, ) -> SceneGraph

Build a scene graph from detected obstacles.

pub fn merge(&self, a: &SceneGraph, b: &SceneGraph) -> SceneGraph

Merge two scene graphs into one, re-computing edges.

Trait Implementations

impl Clone for SceneGraphBuilder

fn clone(&self) -> SceneGraphBuilder

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SceneGraphBuilder

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

Formats the value using the given formatter.

impl Default for SceneGraphBuilder

fn default() -> Self

Returns the “default value” for a type.