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PointKdTree

scirs2_vision::point_cloud

Struct PointKdTree 

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pub struct PointKdTree { /* private fields */ }
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A simple recursive K-D tree for 3-D nearest-neighbour queries.

Built once from a PointCloud, then used for multiple queries.

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impl PointKdTree

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pub fn build(cloud: &PointCloud) -> Self

Build the tree from a point cloud.

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pub fn knn(&self, query: &[f64; 3], k: usize) -> Vec<(usize, f64)>

Return the k nearest neighbours of query as (index, dist²) pairs, sorted by ascending distance squared.

Return all points within squared distance ≤ radius² from query.

Returns (index, dist²) pairs, unsorted.

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