Struct PointToPlaneIcp 

pub struct PointToPlaneIcp { /* private fields */ }

Point-to-plane ICP registration.

Implementations

impl PointToPlaneIcp

pub const fn new(config: PointToPlaneIcpConfig) -> PointToPlaneIcp

Creates a point-to-plane ICP algorithm from config.

pub const fn config(&self) -> PointToPlaneIcpConfig

Returns the config.

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

Aligns source to target minimizing point-to-plane distance.

target must provide normals.

Trait Implementations

impl Clone for PointToPlaneIcp

fn clone(&self) -> PointToPlaneIcp

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PointToPlaneIcp

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

Formats the value using the given formatter.

impl PartialEq for PointToPlaneIcp

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

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 PointToPlaneIcp

impl StructuralPartialEq for PointToPlaneIcp