fast-gicp

A Rust wrapper for the fast_gicp C++ library, providing efficient 3D point cloud registration algorithms.

Features

Fast GICP: Generalized Iterative Closest Point algorithm with multi-threading support
Fast VGICP: Voxelized GICP for efficient large-scale point cloud registration
CUDA Acceleration: GPU-accelerated variants (FastVGICPCuda, NDTCuda)
Builder Pattern: Type-safe configuration with compile-time validation
Zero-Copy: Efficient point cloud wrappers with minimal overhead
Comprehensive Testing: 90+ tests covering all algorithms and edge cases

Quick Start

Add to your Cargo.toml:

[dependencies]
fast-gicp = "0.3"

# For CUDA support
fast-gicp = { version = "0.3", features = ["cuda"] }

Basic usage:

use fast_gicp::{FastGICP, PointCloudXYZ};

// Create point clouds
let source = PointCloudXYZ::from_points(&[
    [0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0],
]);

let target = PointCloudXYZ::from_points(&[
    [0.1, 0.0, 0.0], [1.1, 0.0, 0.0], [0.1, 1.0, 0.0],
]);

// Configure and run registration
let gicp = FastGICP::builder()
    .max_iterations(50)
    .transformation_epsilon(1e-6)
    .build()?;

let result = gicp.align(&source, &target)?;

println!("Converged: {}", result.has_converged);
println!("Final transformation: {:?}", result.final_transformation);

Available Algorithms

FastGICP

Standard GICP with optional regularization methods:

use fast_gicp::types::RegularizationMethod;

let gicp = FastGICP::builder()
    .max_iterations(100)
    .num_threads(4)
    .regularization_method(RegularizationMethod::Frobenius)
    .build()?;

FastVGICP

Voxelized GICP for large point clouds:

use fast_gicp::types::VoxelAccumulationMode;

let vgicp = FastVGICP::builder()
    .resolution(0.5)
    .voxel_accumulation_mode(VoxelAccumulationMode::Additive)
    .build()?;

CUDA Variants

GPU-accelerated algorithms (requires cuda feature):

// Voxelized GICP on GPU
let cuda_vgicp = FastVGICPCuda::builder()
    .resolution(1.0)
    .build()?;

// NDT on GPU
let ndt = NDTCuda::builder()
    .resolution(0.5)
    .distance_mode(NdtDistanceMode::D2D)
    .build()?;

Documentation

Full API documentation with examples is available at docs.rs/fast-gicp.

Requirements

Rust 1.70+
CMake 3.15+
C++17 compiler
PCL 1.8+ (Point Cloud Library)
Optional: CUDA 11.0+ for GPU features

License

Licensed under the BSD 3-Clause License. See LICENSE for details.

fast-gicp 0.3.0