Struct ICPConfigurationBuilder

pub struct ICPConfigurationBuilder<T> { /* private fields */ }

A Builder-pattern struct for safely constructing an ICPConfiguration struct.

Implementations

impl<T: Copy> ICPConfigurationBuilder<T>

pub fn with_kd_tree(&self, use_kd_tree: bool) -> Self

Enables usage of a KD Tree structure to find nearest neighbours, or use a native On^2 search, a KD Tree becomes increasingly effective with point cloud growth.

Arguments

• use_kd_tree: Whether to use a KD Tree search method.

Returns

A copy of self, with the updated parameters

pub fn with_max_iterations(&self, max_iterations: usize) -> Self

The amount of iterations before giving up and exiting the algorithm.

Arguments

• max_iterations: The maximum number of iterations to allow.

Returns

A copy of self, with the updated parameters

pub fn with_absolute_mse_threshold( &self, mse_absolute_threshold: Option<T>, ) -> Self

When provided, the algorithm will consider itself converged when the MSE is smaller than the given value, without any more iterations.

Arguments

• mse_absolute_threshold: If is Some, sets the minimum accepted MSE difference, that will return a convergence.

Returns

A copy of self, with the updated parameters

pub fn with_mse_interval_threshold(&self, mse_interval_threshold: T) -> Self

This will specify the interval between iteration MSE’s than when reached, will declare ICP convergence.

Arguments

• mse_interval_threshold: The minimum threshold for an MSE, anything below will return a convergence.

Returns

A copy of self, with the updated parameters

pub fn build(&self) -> ICPConfiguration<T>

Generates an ICPConfiguration from the struct currently contained by the builder

Returns

An ICPConfiguration, note that this does not consume the builder, leaving it intact for another use.

Trait Implementations

impl<T: Clone> Clone for ICPConfigurationBuilder<T>

fn clone(&self) -> ICPConfigurationBuilder<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug> Debug for ICPConfigurationBuilder<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.