Struct FpfhRansacRegistration 

pub struct FpfhRansacRegistration { /* private fields */ }

FPFH + RANSAC global registration.

Both source and target must carry normals (e.g. from normal estimation); FPFH is built from the angular relationships between a point’s normal and its neighbors’ normals, so normals are mandatory.

Implementations

impl FpfhRansacRegistration

pub const fn new(config: FpfhRansacConfig) -> FpfhRansacRegistration

Creates a registration from config.

pub const fn config(&self) -> FpfhRansacConfig

Returns the registration config.

Trait Implementations

impl Clone for FpfhRansacRegistration

fn clone(&self) -> FpfhRansacRegistration

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for FpfhRansacRegistration

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

Formats the value using the given formatter.

impl PartialEq for FpfhRansacRegistration

fn eq(&self, other: &FpfhRansacRegistration) -> 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 PointCloudRegistration for FpfhRansacRegistration

fn name(&self) -> &'static str

Human-readable registration algorithm name.

fn align( &self, source: &PointCloud, target: &PointCloud, ) -> Result<RegistrationResult, SpatialError>

Aligns source to target and returns the estimated transform.

impl Copy for FpfhRansacRegistration

impl StructuralPartialEq for FpfhRansacRegistration