Struct IcpRegistration 

pub struct IcpRegistration {
    pub max_iterations: usize,
    pub convergence_tol: f64,
}

Iterative Closest Point registration.

Fields

max_iterations: usize

Maximum number of ICP iterations.

convergence_tol: f64

Convergence threshold on mean squared distance change.

Implementations

impl IcpRegistration

pub fn new(max_iterations: usize, convergence_tol: f64) -> Self

Creates a new ICP solver.

pub fn align(source: &PointCloud, target: &PointCloud) -> IcpResult

Aligns source onto target and returns the transform.

pub fn run(&self, source: &PointCloud, target: &PointCloud) -> IcpResult

Run ICP alignment: returns IcpResult after at most self.max_iterations steps.

pub fn closest_point_pairs( source: &PointCloud, target: &PointCloud, ) -> Vec<(usize, usize)>

Returns all closest-point pairs (source_idx, target_idx).