Crate rigidity_pipeline 

From files on disk to a conditioning report.

The core provides the pieces — downsampling, normals, an index, ICP, conditioning — and every front end has to assemble them in the same order, with the same defaults, or its numbers stop being comparable with anyone else’s. While that assembly lived inside the binary the second front end had to copy it, and two copies drift. It lives here instead, and the command line and the viewer call the same code.

Nothing here knows about argument parsing or about drawing.

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);

Structs

PrepareParams

Settings shared by everything that turns a raw cloud into a surface.

Prepared

A cloud ready to be registered: points, normals and an index over them.

Progress

How far along one stage is.

RegisterParams

Settings of the registration itself.

ReportParams

What the numbers in a report are measured against.

Enums

PipelineError

Anything that can go wrong between a file and a report.

Stage

Which part of the work a Progress report is about.

Functions

analyse_cloud

The conditioning of a single surface.

analyse_registration

The conditioning of a registration, at a given pose.

prepare

Reads a cloud and prepares it.

prepare_cloud

Prepares a cloud that is already in memory.

prepare_cloud_observed

The same, reporting progress.

prepare_observed

The same, reporting progress.

register_pair

Registers moving onto fixed, starting from the identity.

register_pair_observed

The same, from a given initial pose and with an observer.

transform_cloud

Applies a pose to every point of a cloud.