Struct GlobalRegistrationConfig 

pub struct GlobalRegistrationConfig {
    pub ransac_iterations: usize,
    pub distance_threshold: f32,
    pub inlier_ratio: f32,
    pub fpfh_radius: f32,
    pub fpfh_k_neighbors: usize,
    pub normal_k_neighbors: usize,
    pub refine_with_icp: bool,
    pub icp_max_iterations: usize,
    pub icp_distance_threshold: Option<f32>,
}

Configuration for the global registration pipeline.

Fields

ransac_iterations: usize

Maximum RANSAC iterations. Higher = more robust, slower.

distance_threshold: f32

Maximum Euclidean distance (in model units) for a correspondence to count as an inlier.

inlier_ratio: f32

Early-exit RANSAC when the fraction of inlier correspondences exceeds this value.

fpfh_radius: f32

Radius used for FPFH feature extraction.

fpfh_k_neighbors: usize

Minimum neighbours required by radius search; falls back to k-NN when fewer found.

normal_k_neighbors: usize

Number of nearest neighbours used for surface normal estimation.

refine_with_icp: bool

Run ICP after RANSAC to refine the coarse alignment.

icp_max_iterations: usize

Maximum ICP iterations (only used when refine_with_icp is true).

icp_distance_threshold: Option<f32>

Maximum point-to-point correspondence distance for ICP (None = unlimited).

Trait Implementations

impl Clone for GlobalRegistrationConfig

fn clone(&self) -> GlobalRegistrationConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GlobalRegistrationConfig

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

Formats the value using the given formatter.

impl Default for GlobalRegistrationConfig

fn default() -> Self

Returns the “default value” for a type.