Struct PointToPlaneIcp 

pub struct PointToPlaneIcp { /* private fields */ }

Point-to-plane ICP registration.

Implementations

impl PointToPlaneIcp

pub fn align_with_gpu_reduction( &self, runtime: &WgpuRuntime, source: &PointCloud, target: &PointCloud, ) -> SpatialResult<GpuPointToPlaneReductionDiagnostics>

Retains source/target/tree/raw normals on GPU for transforms, nearest matching, plane Hessian/gradient and raw-normal plane fitness reductions. CPU solves normalized 6x6 equations and converts the linearized step to the existing world update/stopping convention. Each evaluation explicitly downloads 256 bytes; post-update equations feed the next solve/final fitness. No CPU fallback occurs. Raw normals keep relative length weights and need not be unit vectors. f32 arithmetic may change matches, pose and stopping.

impl PointToPlaneIcp

pub const fn new(config: PointToPlaneIcpConfig) -> Self

Creates a point-to-plane ICP algorithm from config.

pub const fn config(&self) -> PointToPlaneIcpConfig

Returns the config.

pub fn align_with_diagnostics( &self, source: &PointCloud, target: &PointCloud, ) -> SpatialResult<RegistrationResult>

Aligns source to target minimizing point-to-plane distance.

target must provide normals.

Trait Implementations

impl Clone for PointToPlaneIcp

fn clone(&self) -> PointToPlaneIcp

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for PointToPlaneIcp

impl Debug for PointToPlaneIcp

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

Formats the value using the given formatter.

impl PartialEq for PointToPlaneIcp

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

Equality operator ==.

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

Inequality operator !=.

impl PointCloudRegistration for PointToPlaneIcp

fn name(&self) -> &'static str

Human-readable registration algorithm name.

fn align( &self, source: &PointCloud, target: &PointCloud, ) -> SpatialResult<RegistrationResult>

Aligns source to target and returns the estimated transform.

impl StructuralPartialEq for PointToPlaneIcp