Trait ScanMatcher 

pub trait ScanMatcher {
    // Required method
    fn match_scans(
        &self,
        previous: &PointCloud,
        current: &PointCloud,
    ) -> MappingResult<Isometry3<f32>>;
}

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

Required Methods

fn match_scans( &self, previous: &PointCloud, current: &PointCloud, ) -> MappingResult<Isometry3<f32>>

Estimates current_T_previous from two same-frame scans.

Implementors

impl ScanMatcher for IcpScanMatcher

Available on crate feature scan-icp only.