icp_detailed

threecrate_algorithms::registration

Function icp_detailed 

Source 
pub fn icp_detailed(
    source: &PointCloud<Point3f>,
    target: &PointCloud<Point3f>,
    init: Isometry3<f32>,
    max_iters: usize,
    max_correspondence_distance: Option<f32>,
    convergence_threshold: f32,
) -> Result<ICPResult>
Expand description

Detailed ICP registration with comprehensive options and result

This function provides full control over ICP parameters and returns detailed results.

§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
  • max_correspondence_distance - Maximum distance for valid correspondences (None = no limit)
  • convergence_threshold - MSE change threshold for convergence

§Returns

  • Result<ICPResult> - Detailed ICP result including transformation, error, and convergence info