Struct RobustIcp2D

Source

pub struct RobustIcp2D<'a> { /* private fields */ }

Expand description

Robust 2D ICP using KdTree + Huber-weighted Gauss-Newton

Implementations§

Source §

impl<'a> RobustIcp2D<'a>

Source

pub fn new(dst: &'a [SVector<f64, 2>]) -> Self

Build KdTree from reference (destination) point cloud

Source

pub fn estimate( &self, src: &[SVector<f64, 2>], initial: &Transform2D, max_iter: usize, ) -> RobustICPResult

Estimate transform that aligns src to dst

Auto Trait Implementations§

§

impl<'a> UnwindSafe for RobustIcp2D<'a>

Blanket Implementations§

Source §

impl<T> Any for T
where T: 'static + ?Sized,

Source §

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

Source §

impl<T> Borrow<T> for T
where T: ?Sized,

Source §

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

Source §

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source §

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

Source §

impl<T> From<T> for T

Source §

fn from(t: T) -> T

Returns the argument unchanged.

Source §

impl<T, U> Into for T
where U: From<T>,

Source §

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

Source §

impl<T> Same for T

Source §

type Output = T

Should always be Self

§

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

§

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

§

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

§

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

§

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

Source §

impl<T, U> TryFrom for T
where U: Into<T>,

Source §

type Error = Infallible

The type returned in the event of a conversion error.

Source §

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

Source §

impl<T, U> TryInto for T
where U: TryFrom<T>,

Source §

type Error = >::Error

The type returned in the event of a conversion error.

Source §

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

§

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

§

RobustIcp2D

Struct RobustIcp2D

Implementations§

impl<'a> RobustIcp2D<'a>

pub fn new(dst: &'a [SVector<f64, 2>]) -> Self

pub fn estimate( &self, src: &[SVector<f64, 2>], initial: &Transform2D, max_iter: usize, ) -> RobustICPResult

Auto Trait Implementations§

impl<'a> Freeze for RobustIcp2D<'a>

impl<'a> RefUnwindSafe for RobustIcp2D<'a>

impl<'a> Send for RobustIcp2D<'a>

impl<'a> Sync for RobustIcp2D<'a>

impl<'a> Unpin for RobustIcp2D<'a>

impl<'a> UnsafeUnpin for RobustIcp2D<'a>

impl<'a> UnwindSafe for RobustIcp2D<'a>

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

impl<T> Same for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V

RobustIcp2D

Struct RobustIcp2D Copy item path

Implementations§

impl<'a> RobustIcp2D<'a>

pub fn new(dst: &'a [SVector<f64, 2>]) -> Self

pub fn estimate( &self, src: &[SVector<f64, 2>], initial: &Transform2D, max_iter: usize, ) -> RobustICPResult

Auto Trait Implementations§

impl<'a> Freeze for RobustIcp2D<'a>

impl<'a> RefUnwindSafe for RobustIcp2D<'a>

impl<'a> Send for RobustIcp2D<'a>

impl<'a> Sync for RobustIcp2D<'a>

impl<'a> Unpin for RobustIcp2D<'a>

impl<'a> UnsafeUnpin for RobustIcp2D<'a>

impl<'a> UnwindSafe for RobustIcp2D<'a>

Blanket Implementations§

impl<T> Any for Twhere T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for Twhere T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for Twhere T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for Twhere U: From<T>,

fn into(self) -> U

impl<T> Same for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for Twhere U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<V, T> VZip<V> for Twhere V: MultiLane<T>,

fn vzip(self) -> V

Struct RobustIcp2D

impl<T> Any for T
where T: 'static + ?Sized,

impl<T> Borrow<T> for T
where T: ?Sized,

impl<T> BorrowMut<T> for T
where T: ?Sized,

impl<T, U> Into<U> for T
where U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

impl<T, U> TryFrom<U> for T
where U: Into<T>,

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

impl<V, T> VZip<V> for T
where V: MultiLane<T>,