Struct FpfhRansacConfig 

pub struct FpfhRansacConfig {
    pub feature_radius: f32,
    pub max_correspondence_distance: f32,
    pub ransac_iterations: usize,
    pub sample_size: usize,
    pub edge_length_tolerance: f32,
    pub seed: u64,
}

Configuration for FpfhRansacRegistration.

Fields

feature_radius: f32

Radius used to gather neighbors when building FPFH descriptors. Should be noticeably larger than the normal-estimation radius (≈5× point spacing).

max_correspondence_distance: f32

Distance below which a transformed source point counts as an inlier.

ransac_iterations: usize

Number of RANSAC sampling iterations.

sample_size: usize

Correspondences per RANSAC sample (minimum 3 for a rigid transform).

edge_length_tolerance: f32

Pairwise edge lengths in a sample must agree within this relative tolerance, which cheaply rejects geometrically inconsistent samples.

seed: u64

Seed for the deterministic RNG, so runs are reproducible.

Implementations

impl FpfhRansacConfig

pub fn with_radius( feature_radius: f32, max_correspondence_distance: f32, ) -> FpfhRansacConfig

Creates a config from the feature radius and inlier distance.

Trait Implementations

impl Clone for FpfhRansacConfig

fn clone(&self) -> FpfhRansacConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for FpfhRansacConfig

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

Formats the value using the given formatter.

impl Default for FpfhRansacConfig

fn default() -> FpfhRansacConfig

Returns the “default value” for a type.

impl PartialEq for FpfhRansacConfig

fn eq(&self, other: &FpfhRansacConfig) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for FpfhRansacConfig

impl StructuralPartialEq for FpfhRansacConfig