Struct NdtRegistration 

pub struct NdtRegistration { /* private fields */ }

NDT registration (point-to-distribution).

Implementations

impl NdtRegistration

pub const fn new(config: NdtConfig) -> NdtRegistration

Creates an NDT algorithm from config.

pub const fn config(&self) -> NdtConfig

Returns the config.

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

Aligns source to target using NDT.

Trait Implementations

impl Clone for NdtRegistration

fn clone(&self) -> NdtRegistration

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for NdtRegistration

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

Formats the value using the given formatter.

impl PartialEq for NdtRegistration

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

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 NdtRegistration

impl StructuralPartialEq for NdtRegistration