Crate spatialrust_mapping 

Trajectories, pose graphs, and localization primitives.

Structs

DeltaMotion

Relative motion between two times.

IcpScanMatcher

ICP-backed scan matcher for sequential point-cloud odometry.

PoseGraph

Pose graph with absolute node estimates and relative constraints.

PoseGraphEdge

Relative pose constraint between two nodes: to_T_from.

PoseNodeId

Stable pose-graph node identifier.

ScanOdometry

Deterministic scan odometry runner over one topic in a memory episode.

ScanOdometryConfig

Bounds and validation settings for scan-sequence odometry.

ScanOdometryResult

Output of one bounded scan odometry run.

StampedPose

One timed pose sample.

SyntheticOdometry

Synthetic odometry that trusts successive pose stamps and emits their delta.

Trajectory

Ordered trajectory of stamped poses.

Enums

MappingError

Failures in trajectories and pose graphs.

Traits

RelativeMotionEstimator

Estimates relative motion for odometry / keyframe tracking.

ScanMatcher

Contract for an estimator that maps a previous scan into the current scan.

Functions

delta_from_monocular_odometry

Converts scale-ambiguous monocular motion after the caller supplies scale.

delta_from_rgbd_odometry

Converts a metric RGB-D source-to-target pose into mapping motion.

Type Aliases

MappingResult

Result type for mapping operations.