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icp_matching

rust_robotics_slam::icp_matching

Function icp_matching 

Source 
pub fn icp_matching(
    previous_points: &DMatrix<f64>,
    current_points: &DMatrix<f64>,
) -> ICPResult
Expand description

Main ICP matching function

§Arguments

  • previous_points - Points from the previous frame (2×N or 3×N matrix)
  • current_points - Points from the current frame (2×N or 3×N matrix)

§Returns

  • ICPResult containing rotation matrix, translation vector, and convergence info