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NdtConfig

spatialrust

Struct NdtConfig 

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pub struct NdtConfig {
    pub max_iterations: usize,
    pub resolution: f32,
    pub epsilon: f64,
    pub min_points_per_voxel: usize,
    pub transformation_epsilon: f64,
    pub fitness_epsilon: f64,
    pub min_correspondences: usize,
    pub initial_guess: Isometry3<f32>,
}
Expand description

Configuration for NDT (Normal Distributions Transform) registration.

The target cloud is discretized into a voxel grid; each cell with enough points becomes a Gaussian (mean + covariance). The source is aligned by minimizing the Mahalanobis distance of each transformed point to its target cell distribution via Gauss-Newton (point-to-distribution NDT).

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§max_iterations: usize

Maximum number of optimization iterations.

§resolution: f32

Voxel size used to build the target distributions.

§epsilon: f64

Planar regularization: smallest eigenvalue floor as a fraction of the largest.

§min_points_per_voxel: usize

Minimum points required for a target voxel to form a distribution.

§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 matched points required per iteration.

§initial_guess: Isometry3<f32>

Initial transform guess mapping source into target frame.

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impl NdtConfig

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pub fn with_resolution(resolution: f32) -> NdtConfig

Creates a config with the given voxel resolution.

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impl Clone for NdtConfig

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fn clone(&self) -> NdtConfig

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for NdtConfig

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

Formats the value using the given formatter. Read more
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impl Default for NdtConfig

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fn default() -> NdtConfig

Returns the “default value” for a type. Read more
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impl PartialEq for NdtConfig

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

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

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

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

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impl StructuralPartialEq for NdtConfig

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