Struct IcpConfig 

pub struct IcpConfig {
    pub max_iterations: usize,
    pub max_correspondence_distance: f32,
    pub transformation_epsilon: f64,
    pub fitness_epsilon: f64,
    pub min_correspondences: usize,
    pub initial_guess: Isometry3<f32>,
}

Configuration for point-to-point ICP.

Fields

max_iterations: usize

Maximum number of ICP iterations.

max_correspondence_distance: f32

Maximum correspondence distance.

transformation_epsilon: f64

Stop when both translation length (coordinate units) and rotation angle (radians) of the transform update are smaller than this threshold.

fitness_epsilon: f64

Stop when the mean squared correspondence distance is below this threshold.

min_correspondences: usize

Minimum number of correspondences required per iteration.

initial_guess: Isometry3<f32>

Initial transform guess mapping source into target frame.

Implementations

impl IcpConfig

pub fn with_correspondence_distance(max_correspondence_distance: f32) -> Self

Creates a config with the given correspondence distance.

Trait Implementations

impl Clone for IcpConfig

fn clone(&self) -> IcpConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for IcpConfig

impl Debug for IcpConfig

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

Formats the value using the given formatter.

impl Default for IcpConfig

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for IcpConfig

fn eq(&self, other: &IcpConfig) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for IcpConfig