Crate spatialrust_registration 

Point cloud registration for SpatialRust.

Structs

FpfhRansacConfig

Configuration for FpfhRansacRegistration.

FpfhRansacRegistration

FPFH + RANSAC global registration.

GicpConfig

Configuration for Generalized ICP (plane-to-plane).

GicpRegistration

Generalized ICP registration.

IcpConfig

Configuration for point-to-point ICP.

IcpRegistration

Point-to-point ICP registration.

NdtConfig

Configuration for NDT (Normal Distributions Transform) registration.

NdtRegistration

NDT registration (point-to-distribution).

PointToPlaneIcp

Point-to-plane ICP registration.

PointToPlaneIcpConfig

Configuration for point-to-plane ICP.

RegistrationResult

Result of a registration run.

Constants

FPFH_DESCRIPTOR_LEN

Length of an FPFH descriptor (33: three 11-bin angular histograms).

Traits

PointCloudRegistration

Common trait for point cloud registration algorithms.

Functions

estimate_rigid_transform

Estimates the rigid transform that best maps source onto target.

fpfh_descriptors

Computes an FPFH descriptor for every point in cloud.

transform_point_cloud

Applies a rigid transform to point positions and normals in a point cloud copy.

Type Aliases

FpfhDescriptor

A single FPFH descriptor.