struct mrpt::graphslam::TResultInfoSpaLevMarq

Python API: mrpt.graphslam.TResultInfoSpaLevMarq

Overview

Output information for mrpt::graphslam::optimize_graph_spa_levmarq()

#include <mrpt/graphslam/types.h>

struct TResultInfoSpaLevMarq
{
    // fields

    size_t num_iters;
    double final_total_sq_error;
};

Fields

size_t num_iters

The number of LM iterations executed.

double final_total_sq_error

The sum of the squared errors of all the constraints involved in the problem, weighted by their information matrices (squared Mahalanobis distances) for graphs with PDF edges.