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spatialrust_registration/
lib.rs

1//! Point cloud registration for SpatialRust.
2
3#![deny(unsafe_code)]
4#![warn(missing_docs)]
5
6mod kabsch;
7mod registration;
8mod transform;
9
10#[cfg(feature = "register-icp")]
11mod icp;
12
13#[cfg(feature = "register-icp-point-to-plane")]
14mod point_to_plane;
15
16#[cfg(feature = "register-gicp")]
17mod gicp;
18
19#[cfg(feature = "register-ndt")]
20mod ndt;
21
22#[cfg(feature = "register-fpfh")]
23mod fpfh;
24
25pub use kabsch::estimate_rigid_transform;
26pub use registration::{PointCloudRegistration, RegistrationResult};
27pub use transform::transform_point_cloud;
28
29#[cfg(feature = "register-icp")]
30pub use icp::{IcpConfig, IcpRegistration};
31
32#[cfg(feature = "register-icp-point-to-plane")]
33pub use point_to_plane::{PointToPlaneIcp, PointToPlaneIcpConfig};
34
35#[cfg(feature = "register-gicp")]
36pub use gicp::{GicpConfig, GicpRegistration};
37
38#[cfg(feature = "register-ndt")]
39pub use ndt::{NdtConfig, NdtRegistration};
40
41#[cfg(feature = "register-fpfh")]
42pub use fpfh::{
43    fpfh_descriptors, FpfhDescriptor, FpfhRansacConfig, FpfhRansacRegistration, FPFH_DESCRIPTOR_LEN,
44};