Struct PointToPlaneIcpConfig 

pub struct PointToPlaneIcpConfig {
    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-plane ICP.

Point-to-plane ICP minimizes the distance from each transformed source point to the tangent plane of its target correspondence, which converges faster and more accurately than point-to-point ICP on locally planar surfaces. The target cloud must carry normals (e.g. from normal estimation).

Fields

max_iterations: usize

Maximum number of ICP iterations.

max_correspondence_distance: f32

Maximum correspondence distance.

transformation_epsilon: f64

Stop when the transform update is smaller than this threshold.

fitness_epsilon: f64

Stop when the point-to-plane fitness is smaller than 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 PointToPlaneIcpConfig

pub fn with_correspondence_distance(max_correspondence_distance: f32) -> Self

Creates a config with the given correspondence distance.

Trait Implementations

impl Clone for PointToPlaneIcpConfig

fn clone(&self) -> PointToPlaneIcpConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PointToPlaneIcpConfig

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

Formats the value using the given formatter.

impl Default for PointToPlaneIcpConfig

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for PointToPlaneIcpConfig

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for PointToPlaneIcpConfig

impl StructuralPartialEq for PointToPlaneIcpConfig