MRPT  1.9.9
mrpt::slam::CICP::TReturnInfo Struct Reference

Detailed Description

The ICP algorithm return information.

Definition at line 190 of file CICP.h.

#include <mrpt/slam/CICP.h>

Public Member Functions

 TReturnInfo ()

Public Attributes

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 ( )

Definition at line 192 of file CICP.h.

Member Data Documentation

◆ goodness

◆ nIterations

◆ 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 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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