Struct StreamingVoxelFilter 

pub struct StreamingVoxelFilter { /* private fields */ }

Streaming voxel-grid downsampler.

Maintains a HashMap from voxel coordinates to a representative point. Peak memory is O(V) where V is the number of occupied voxels in the entire dataset — typically far smaller than N points.

Unlike the in-memory voxel_grid_filter, no bounding-box pre-scan is required; voxel keys are derived by dividing each coordinate by voxel_size and rounding toward negative infinity, so they are consistent across all chunks.

The representative point for each voxel is the centroid of all points assigned to that voxel, giving a smoother result than first-point selection.

Implementations

impl StreamingVoxelFilter

pub fn new(config: StreamingVoxelFilterConfig) -> Self

Create a new streaming voxel filter.

pub fn voxel_count(&self) -> usize

Number of occupied voxels accumulated so far.

Trait Implementations

impl StreamingPipeline<OPoint<f32, Const<3>>> for StreamingVoxelFilter

type Output = PointCloud<OPoint<f32, Const<3>>>

The type produced after all chunks have been processed.

fn process_chunk(&mut self, chunk: &[Point3f]) -> Result<()>

Ingest one chunk of items. Called repeatedly until the source is exhausted. chunk will never be empty.

fn finalize(self) -> Result<PointCloud<Point3f>>

Consume the pipeline and return the accumulated output.

fn memory_bytes(&self) -> usize

Estimated number of bytes currently held by this pipeline stage. Default returns 0; override to expose real memory usage.