MRPT
1.9.9
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#include <mrpt/slam/CICP.h>
Public Member Functions | |
TReturnInfo ()=default | |
Public Attributes | |
unsigned short | nIterations {0} |
The number of executed iterations until convergence. More... | |
float | goodness {0} |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More... | |
float | quality {0} |
A measure of the 'quality' of the local minimum of the sqr. More... | |
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default |
float mrpt::slam::CICP::TReturnInfo::goodness {0} |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
Definition at line 197 of file CICP.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processObservation().
unsigned short mrpt::slam::CICP::TReturnInfo::nIterations {0} |
The number of executed iterations until convergence.
Definition at line 194 of file CICP.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::slam::CMetricMapBuilderICP::processObservation().
float mrpt::slam::CICP::TReturnInfo::quality {0} |
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 201 of file CICP.h.
Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().
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