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>

Inheritance diagram for mrpt::slam::CICP::TReturnInfo:

Public Member Functions
	TReturnInfo ()=default
virtual	~TReturnInfo () override=default

Public Attributes
unsigned int	nIterations = 0
	The number of executed iterations until convergence. More...
double	goodness = 0
	A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
double	quality = 0
	A measure of the 'quality' of the local minimum of the sqr. More...
double	executionTime = 0

Constructor & Destructor Documentation

TReturnInfo()

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

default

~TReturnInfo()

virtual mrpt::slam::CICP::TReturnInfo::~TReturnInfo ( )

overridevirtualdefault

Member Data Documentation

executionTime

double mrpt::slam::TMetricMapAlignmentResult::executionTime = 0

inherited

Definition at line 31 of file CMetricMapsAlignmentAlgorithm.h.

Referenced by mrpt::slam::CICP::Align3DPDF(), mrpt::slam::CICP::AlignPDF(), mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::CGridMapAlignerApp::run().

goodness

double 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 200 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 int mrpt::slam::CICP::TReturnInfo::nIterations = 0

The number of executed iterations until convergence.

Definition at line 196 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

double 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 205 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().