Struct LocalFrame 

pub struct LocalFrame {
    pub origin: Vector3<f64>,
}

A frame centred on a point cloud, for running registration in f32.

Far from the origin (e.g. map coordinates millions of metres away), f32 cannot represent small moves, so ICP would stall well short of alignment. Moving the clouds next to the origin first keeps full precision; results are converted back to the original frame.

Fields

origin: Vector3<f64>

The original-frame point that becomes this frame’s origin.

Implementations

impl LocalFrame

pub fn centred_on(points: &[Point3f]) -> Self

A frame centred on the mean of the finite points (a single NaN would otherwise make every local coordinate NaN).

pub fn if_far_from_origin(points: &[Point3f]) -> Option<Self>

A frame centred on points, or None when they are close enough to the origin (within 100x their own size) that f32 loses nothing. Clouds in sensor coordinates take the None path and skip the copies.

pub fn point_to_local(&self, p: &Point3f) -> Point3f

p in this frame.

pub fn points_to_local(&self, points: &[Point3f]) -> Vec<Point3f>

Every point of points in this frame (in parallel).

pub fn transform_to_local(&self, transform: &Isometry3<f32>) -> Isometry3<f32>

A transform given in the original frame, expressed in this frame.

pub fn transform_to_world(&self, transform: &Isometry3<f32>) -> Isometry3<f32>

A transform given in this frame, expressed in the original frame.

Trait Implementations

impl Clone for LocalFrame

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for LocalFrame

impl Debug for LocalFrame

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

Formats the value using the given formatter.