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.

GpuFpfhResult

Explicit GPU FPFH result and payload transfers; ordinary FPFH stays CPU.

GpuGicpDiagnostics

Result and explicit transfer accounting for GPU GICP correspondence search.

GpuGicpIteration

One completed update in the explicit resident GICP precision path.

GpuGicpReductionDiagnostics

Explicit GICP resident reduction result, trace and full transfer receipt.

GpuIcpDiagnostics

GPU correspondence receipt with the ordinary ICP trace and CPU pose solver.

GpuIcpReductionDiagnostics

Explicit resident-transform/reduction ICP result and fixed-size transfer receipt.

GpuPointToPlaneIteration

One completed update in the explicit resident point-to-plane ICP precision path.

GpuPointToPlaneReductionDiagnostics

Explicit point-to-plane ICP resident reduction result, trace and full transfer receipt.

IcpConfig

Configuration for point-to-point ICP.

IcpConvergenceCriteria

Explicit unit-aware stopping thresholds; zero disables the corresponding test.

IcpDiagnostics

Opt-in ICP history. Ordinary alignment does not allocate this history.

IcpIteration

Measurements for one completed update (no additional nearest-neighbor pass).

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.

Enums

GpuIcpTrimPrecision

Arithmetic used for retained ICP moments; transform/search remain f32.

IcpStopReason

Why a successful ICP call stopped; convergence does not certify the pose.

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 least-squares proper rigid transform mapping paired source to target.

fpfh_descriptors

Computes an FPFH descriptor for every point in cloud.

fpfh_descriptors_gpu

Explicitly uploads a cloud, runs GPU radius search, SPFH and weighted FPFH, then downloads descriptors/status. No automatic CPU fallback occurs. neighbor_capacity includes self and must fit ALL radius matches; overflow returns an error rather than descriptors computed from truncated rows. Input validation matches CPU FPFH; GPU angular/bin rounding may differ near boundaries. Descriptor matching and RANSAC registration remain CPU.

transform_point_cloud

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

Type Aliases

FpfhDescriptor

A single FPFH descriptor.