Beat OpenCV dense RGB-D depth_to_xyz - #17
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Add dense H×W×3 fill (including out= reuse) and gate the harness on alloc/into medians so SpatialRust stays ahead of cv.rgbd.depthTo3d.
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Summary
depth_to_xyz_dense/_intowith an audited x86_64 AVX2 fill path and Pythondepth_to_xyz(..., out=)for streaming reuse.rgbd_to_point_cloudand document fair OpenCV comparison (dense XYZ, not PointCloud packing).cv.rgbd.depthTo3d; README/CHANGELOG note local ~1.4–2.2× wins.Test plan
cargo test -p spatialrust-camera --releasematurin develop --releaseincrates/spatialrust-pypython bench/opencv_rgbd_comparison/run.py×5 (ALL_PASS)pytest crates/spatialrust-py/tests/test_bindings.py -k depth_to_xyz