Struct GicpConfig 

pub struct GicpConfig {
    pub max_iterations: usize,
    pub max_correspondence_distance: f32,
    pub k_neighbors: usize,
    pub epsilon: f64,
    pub transformation_epsilon: f64,
    pub fitness_epsilon: f64,
    pub min_correspondences: usize,
    pub initial_guess: Isometry3<f32>,
    pub covariance_radius: Option<f32>,
}

Configuration for Generalized ICP (plane-to-plane).

GICP models each point’s local surface as an anisotropic Gaussian and minimizes the Mahalanobis distance between correspondences, combining the robustness of point-to-plane ICP for both clouds. Local covariances are estimated from k-nearest neighbors and regularized toward planar disks.

Fields

max_iterations: usize

Maximum number of GICP iterations.

max_correspondence_distance: f32

Maximum correspondence distance.

k_neighbors: usize

Number of neighbors used to estimate per-point covariance.

epsilon: f64

Planar regularization: eigenvalue assigned along the surface normal.

transformation_epsilon: f64

Stop when the transform update is smaller than this threshold.

fitness_epsilon: f64

Stop when the fitness is smaller than this threshold.

min_correspondences: usize

Minimum number of correspondences required per iteration.

initial_guess: Isometry3<f32>

Initial transform guess mapping source into target frame.

covariance_radius: Option<f32>

When set (and the register-gicp-gpu feature is enabled), estimate per-point covariances on the GPU using a uniform grid neighbor search of this radius instead of the CPU KD-tree. Falls back to CPU on GPU errors.

Implementations

impl GicpConfig

pub fn with_correspondence_distance( max_correspondence_distance: f32, ) -> GicpConfig

Creates a config with the given correspondence distance.

Trait Implementations

impl Clone for GicpConfig

fn clone(&self) -> GicpConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GicpConfig

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

Formats the value using the given formatter.

impl Default for GicpConfig

fn default() -> GicpConfig

Returns the “default value” for a type.

impl PartialEq for GicpConfig

fn eq(&self, other: &GicpConfig) -> 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 GicpConfig

impl StructuralPartialEq for GicpConfig