Function mapping_algorithms::icp::double_precision::icp_3d

source · 
pub fn icp_3d(
    points_a: &[Point<f64, 3>],
    points_b: &[Point<f64, 3>],
    config: ICPConfiguration<f64>,
) -> Result<ICPSuccess<f64, UnitQuaternion<f64>, 3>, &'static str>
Expand description

An ICP algorithm in 3D space.

§Arguments

  • points_a: A slice of Point, representing the source point cloud.
  • points_b: A slice of Point, representing the target point cloud.
  • config: a reference to an ICPConfiguration, specifying the behaviour of the algorithm.

§Returns

An ICPSuccess struct with an Isometry transform with an f64 precision, or an error message explaining what went wrong.

  1. This does not guarantee that the transformation is correct, only that no further benefit can be gained by running another iteration. ↩