Struct IcpConfig

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pub struct IcpConfig {
    pub max_iterations: usize,
    pub max_correspondence_distance: f64,
    pub min_normal_cosine: f64,
    pub kernel: Kernel,
    pub translation_tolerance: f64,
    pub rotation_tolerance: f64,
    pub initial_damping: f64,
}

Expand description

Registration settings.

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§max_iterations: usize

Cap on the number of iterations.

§max_correspondence_distance: f64

Correspondences farther apart than this are discarded.

§min_normal_cosine: f64

Minimum |cos| of the angle between normals.

The absolute value, not the cosine itself: the sign a PCA estimate assigns to a normal is arbitrary and carries no meaning.

§kernel: Kernel

The loss function.

§translation_tolerance: f64

Convergence threshold on the translational part of the step, metres.

§rotation_tolerance: f64

Convergence threshold on the rotational part of the step, radians.

§initial_damping: f64

Initial Levenberg–Marquardt damping.

Trait Implementations§

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impl Clone for IcpConfig

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fn clone(&self) -> IcpConfig

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Copy for IcpConfig

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impl Debug for IcpConfig

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

Formats the value using the given formatter. Read more

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impl Default for IcpConfig

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fn default() -> Self

Returns the “default value” for a type. Read more

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impl PartialEq for IcpConfig

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fn eq(&self, other: &IcpConfig) -> bool

Equality operator ==. Read more

1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=. Read more

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impl StructuralPartialEq for IcpConfig

Auto Trait Implementations§

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impl UnwindSafe for IcpConfig

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self> ⓘ

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self> ⓘ
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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