Modern ICP

A modern modular pure Rust implementation of the Iterative Closest Point algorithm.

Example

// Basic usage
let (alignee_transform, error_sum) = Icp::new()
    .correspondence_estimator(NearestNeighbor::new(&target_cloud))
    .estimate_step_transform(point_to_plane_lls::estimate_isometry)
    .is_converged(same_squared_distance_error(0.1))
    .estimate_transform(alignee_cloud, &target_cloud);

// With outliers rejection and point filtering
let (alignee_transform, error_sum) = Icp::new()
    .correspondence_estimator(BidirectionalDistance::new(&target_cloud))
    .estimate_step_transform(point_to_plane_lls::estimate_isometry)
    .is_converged(never) // run for 20 iterations without convergence check
    .max_iterations(20) // stop after 20 iterations
    .filter_points(|pt: &PointCloudPoint<f32, 3>| pt.pos.z > 0.0) // only use points above the xy-plane
    .reject_outliers(reject_n_sigma_dist(3.0))
    .estimate_transform(alignee_cloud, &target_cloud);

Integrations

Serde

A serde integration is provided so you can serialize and deserialize PointCloud and PointCloudPoint using the serde crate. Enable the serde feature to use it.

Modelz

An integrations with the modelz crate is provided so you can use Model3D with the estimate_transform function. This allows for easy loading of 3D models from disk and using them with the ICP algorithm. Enable the modelz feature to use it.

use modelz::Model3D;

let Ok(alignee) = Model3D::load("alignee.gltf") else { return; };
let Ok(target) = Model3D::load("target.stl") else { return; };

let (alignee_transform, error_sum) = Icp::new()
    .correspondence_estimator(NearestNeighbor::new(&target))
    .estimate_step_transform(point_to_plane_lls::estimate_isometry)
    .is_converged(same_squared_distance_error(0.1))
    .estimate_transform(alignee, &target);

Rerun

An integration with the rerun crate is provided so you can visualize the ICP process. With the rerun viewer installed simply enable the rerun Cargo feature. When you run the ICP algorithm you'll see the alignment process visualized in real-time.