Module icp 

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

Conventions: the pose update is left-multiplied, T ← exp(Δξ)·T, and algebra coordinates are ordered ξ = [ρ; φ]. The synthetic scenes’ null spaces and the conditioning analysis assume the same conventions, so neither can be changed in isolation.

Structs

IcpConfig

Registration settings.

IcpResult

The result of a registration.

IterationReport

Solver state after an accepted iteration.

Surface

A surface: a cloud together with its normals.

Enums

Kernel

A loss function.

Functions

point_to_plane_row

One row of the point-to-plane constraint Jacobian.

register

Registers source against target.

register_observed

The same, with an observer called after every accepted iteration.

surface

Builds a Surface from an existing cloud and its normals.