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

Detailed Description

The ICP algorithm return information.

Definition at line 128 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. error found by the method. Higher values are better. Low values will be found in ill-conditioned situations (e.g. a corridor) More...
 

Constructor & Destructor Documentation

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

Definition at line 130 of file CICP.h.

Member Data Documentation

float mrpt::slam::CICP::TReturnInfo::goodness
unsigned short mrpt::slam::CICP::TReturnInfo::nIterations
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 138 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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