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 ( )

inline

Definition at line 192 of file CICP.h.

Member Data Documentation

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 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().

nIterations

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

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().

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().