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mrpt::slam::CICP::TReturnInfo Struct Reference

Detailed Description

The ICP algorithm return information.

Definition at line 160 of file CICP.h.

#include <mrpt/slam/CICP.h>

Public Member Functions

 TReturnInfo ()
 

Public Attributes

unsigned int cbSize
 Size in bytes of this struct: Must be set correctly before using it. More...
 
unsigned short nIterations
 The number of executed iterations until convergence. More...
 
float goodness
 A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
 
float quality
 A measure of the 'quality' of the local minimum of the sqr. More...
 

Constructor & Destructor Documentation

◆ TReturnInfo()

mrpt::slam::CICP::TReturnInfo::TReturnInfo ( )
inline

Definition at line 162 of file CICP.h.

Member Data Documentation

◆ cbSize

unsigned int mrpt::slam::CICP::TReturnInfo::cbSize

Size in bytes of this struct: Must be set correctly before using it.

Definition at line 171 of file CICP.h.

◆ goodness

float mrpt::slam::CICP::TReturnInfo::goodness

A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.

Definition at line 179 of file CICP.h.

◆ nIterations

unsigned short mrpt::slam::CICP::TReturnInfo::nIterations

The number of executed iterations until convergence.

Definition at line 175 of file CICP.h.

◆ quality

float mrpt::slam::CICP::TReturnInfo::quality

A measure of the 'quality' of the local minimum of the sqr.

error found by the method. Higher values are better. Low values will be found in ill-conditioned situations (e.g. a corridor).

Definition at line 184 of file CICP.h.




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