threecrate_algorithms::registration

Function icp

Source 
pub fn icp(
    source: &PointCloud<Point3f>,
    target: &PointCloud<Point3f>,
    init: Isometry3<f32>,
    max_iters: usize,
) -> Isometry3<f32>
Expand description

ICP (Iterative Closest Point) registration - Main function matching requested API

This function performs point cloud registration using the ICP algorithm.

§Arguments

  • source - Source point cloud to be aligned
  • target - Target point cloud to align to
  • init - Initial transformation estimate
  • max_iters - Maximum number of iterations

§Returns

  • Isometry3<f32> - Final transformation that aligns source to target