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rigidity_core/icp/
mod.rs

1//! Iterative closest point with a point-to-plane residual.
2//!
3//! Conventions: the pose update is left-multiplied, `T ← exp(Δξ)·T`, and
4//! algebra coordinates are ordered `ξ = [ρ; φ]`. The synthetic scenes'
5//! null spaces and the conditioning analysis assume the same conventions,
6//! so neither can be changed in isolation.
7
8mod kernel;
9mod lm;
10mod residual;
11
12pub use kernel::Kernel;
13pub use lm::{
14    IcpConfig, IcpResult, IterationReport, Surface, register, register_observed, surface,
15};
16pub use residual::point_to_plane_row;