Crate rigidity 

Point-cloud registration that reports which degrees of freedom the geometry actually determined.

This crate contains no code of its own. It is the single dependency to add when you want the library: the workspace is split into rigidity-* crates so that the core can keep a fixed, audited dependency list, and that split is an implementation concern rather than something every caller should have to reassemble in its own Cargo.toml.

use rigidity::pipeline::{PrepareParams, RegisterParams, prepare, register_pair};

let params = PrepareParams::default();
let moving = prepare("source.ply".as_ref(), &params)?;
let fixed = prepare("target.ply".as_ref(), &params)?;

let result = register_pair(&moving, &fixed, &RegisterParams::default());
println!("{:.5} m", result.rmse);

Features

feature	pulls in	for
pipeline (default)	pipeline, io, spatial	file → surface → registration → report
io	io	PLY, PCD, LAS/LAZ, E57, CSV
spatial	spatial	the kd-tree
scenes	scenes	synthetic scenes with known null spaces

With default-features = false only the core remains: nalgebra, rayon, thiserror and nothing else.

rigidity-viz is deliberately absent. It is a debugging aid whose weight sits behind its own rerun feature, and a crate that wants it is better off depending on it directly than reaching it through a feature two levels down.

Re-exports

pub use rigidity_core::nalgebra;

Modules

cloud

Structure-of-arrays storage for point clouds.

icp

Iterative closest point with a point-to-plane residual.

io

Point-cloud input and output.

lie

The Lie groups SO(3) and SE(3).

linalg

Numerical linear algebra.

neighbors

Neighbour search: the contract, and a brute-force reference implementation.

normals

Normal estimation by principal component analysis.

observability

Conditioning of the registration problem and observability of the six degrees of freedom.

pipeline

From files on disk to a conditioning report.

scenes

Synthetic scenes with analytically known null spaces.

spatial

Spatial indices.

voxel

Voxel downsampling with a bit-for-bit reproducible result.

Structs

Attribute

A named attribute column.

BruteForce

Brute force.

Neighbor

A neighbour that was found.

PointCloud

A point cloud.

Enums

AttributeData

A column of attribute values.

CloudError

Errors from building or modifying a cloud.

Traits

NeighborSearch

Nearest-neighbour search.