Crate rigidity_core 

The rigidity core.

Dependencies are limited to nalgebra, rayon and thiserror: no file I/O, no GPU, no UI. This crate must build and pass its tests on Linux, Windows and macOS without a single system library.

Three invariants hold throughout:

• points are stored as f32 offsets from an f64 origin, while all arithmetic is done in f64;
• H = JᵀWJ is never formed explicitly — the work goes through a tall-skinny QR of the weighted Jacobian;
• results are bit-for-bit reproducible at any thread count.

Re-exports

pub use cloud::Attribute;

pub use cloud::AttributeData;

pub use cloud::CloudError;

pub use cloud::PointCloud;

pub use neighbors::BruteForce;

pub use neighbors::Neighbor;

pub use neighbors::NeighborSearch;

pub use nalgebra;

Modules

cloud

Structure-of-arrays storage for point clouds.

icp

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

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.

voxel

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