Module point_clouds

Expand description

A module containing various mapping-algorithms for point clouds.

Modules§

double_precision: Contains pregenerated functions for double precision point cloud mapping-algorithms.
single_precision: Contains pregenerated functions for single precision point cloud mapping-algorithms.

ICPConfiguration: A struct specifying configuration options for an ICP algorithm.
ICPConfigurationBuilder: A Builder-pattern struct for safely constructing an ICPConfiguration struct.
ICPSuccess: Contains the resulting transform, the resulting Mean Squared Error, and the number of iterations taken for a successful ICP convergence.

ICPError: An error type containing the various errors that might arise during an ICP algorithm, when compiling with the std feature, it will also derive thiserror::Error.

calculate_point_cloud_center: Calculates the mean(centroid) of the point cloud.
downsample_point_cloud_voxel: Downsample a points cloud, returning a new point cloud, with all points within each voxel combined into their mean.
find_nearest_neighbour_naive: Finds the closest matching target point to the passed source point.
generate_point_cloud: Generates a randomized points cloud within a specified spherical range.
icp: A free-form version of the ICP function, allowing for any input and output, under the constraints of the function
icp_iteration: A single iteration of the ICP function, allowing for any input and output, usually used for debugging or visualization
lex_sort: Sorts a copy of the point cloud in lexicographical order.
lex_sort_in_place: Sorts a point cloud in lexicographical order. Modifies the inserted slice in place.
lex_sort_ref: Sorts the point cloud in lexicographical order, returning a Vec of references to the original points, in order..
transform_point_cloud: Transform a point cloud, returning a transformed copy. This function does not mutate the original point cloud.

ICPResult: A type alias for the result of an ICP algorithm, containing either the successful result or an error.