Struct GpuContext

pub struct GpuContext {
    pub instance: Instance,
    pub device: Device,
    pub queue: Queue,
    pub adapter: Adapter,
}

GPU context for managing compute and rendering operations

Fields

instance: Instance

device: Device

queue: Queue

adapter: Adapter

Implementations

impl GpuContext

pub async fn new() -> Result<Self>

Create a new GPU context

pub fn create_buffer_init<T: Pod>( &self, label: &str, data: &[T], usage: BufferUsages, ) -> Buffer

Create a buffer from data

pub fn create_buffer( &self, label: &str, size: u64, usage: BufferUsages, ) -> Buffer

Create an empty buffer

pub fn create_compute_pipeline( &self, label: &str, shader: &ShaderModule, entry_point: &str, ) -> ComputePipeline

Create a compute pipeline

pub fn create_shader_module(&self, label: &str, source: &str) -> ShaderModule

Create a shader module from WGSL source

pub fn create_bind_group_layout( &self, label: &str, entries: &[BindGroupLayoutEntry], ) -> BindGroupLayout

Create a bind group layout

pub fn create_bind_group( &self, label: &str, layout: &BindGroupLayout, entries: &[BindGroupEntry<'_>], ) -> BindGroup

Create a bind group

impl GpuContext

pub async fn remove_statistical_outliers( &self, points: &[Point3f], k_neighbors: usize, std_dev_multiplier: f32, ) -> Result<Vec<Point3f>>

Remove statistical outliers from point cloud using GPU acceleration

impl GpuContext

pub async fn compute_normals( &self, points: &[Point3f], k_neighbors: usize, ) -> Result<Vec<Vector3<f32>>>

Compute normals for a point cloud using GPU acceleration

pub fn compute_neighbors_simple( &self, points: &[[f32; 3]], k: usize, ) -> Vec<[u32; 64]>

Simple neighbor computation (brute force - could be replaced with KD-tree)

impl GpuContext

pub async fn find_k_nearest_neighbors( &self, points: &[Point3f], query_points: &[Point3f], k: usize, max_distance: f32, ) -> Result<Vec<Vec<(usize, f32)>>>

GPU-accelerated k-nearest neighbor search

impl GpuContext

pub async fn batch_icp_align( &self, jobs: &[BatchICPJob], ) -> Result<Vec<BatchICPResult>>

Execute multiple ICP operations in parallel batches

pub async fn icp_align( &self, source: &PointCloud<Point3f>, target: &PointCloud<Point3f>, max_iterations: usize, convergence_threshold: f32, max_correspondence_distance: f32, ) -> Result<Isometry3<f32>>

GPU-accelerated ICP alignment (original single implementation)

impl GpuContext

pub async fn tsdf_integrate( &self, volume: &mut TsdfVolume, depth_image: &[f32], color_image: Option<&[u8]>, camera_pose: &Matrix4<f32>, intrinsics: &CameraIntrinsics, ) -> Result<Vec<TsdfVoxel>>

Integrate depth image into TSDF volume

pub async fn tsdf_extract_surface( &self, volume: &TsdfVolume, voxels: &[TsdfVoxel], iso_value: f32, ) -> Result<PointCloud<ColoredPoint3f>>

Extract point cloud from TSDF volume using marching cubes