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

The ICP algorithm return information. More...

#include <mrpt/slam/CICP.h>

List of all members.

Public Member Functions
	TReturnInfo ()
Public Attributes
unsigned int	cbSize
	Size in bytes of this struct: Must be set correctly before using it.
unsigned short	nIterations
	The number of executed iterations until convergence.
float	goodness
	A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
float	quality
	A measure of the 'quality' of the local minimum of the sqr.

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Detailed Description

The ICP algorithm return information.

Definition at line 184 of file CICP.h.

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Constructor & Destructor Documentation

mrpt::slam::CICP::TReturnInfo::TReturnInfo

(

)

[inline]

Definition at line 186 of file CICP.h.

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Member Data Documentation

unsigned int mrpt::slam::CICP::TReturnInfo::cbSize

Size in bytes of this struct: Must be set correctly before using it.

Definition at line 195 of file CICP.h.

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 203 of file CICP.h.

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

The number of executed iterations until convergence.

Definition at line 199 of file CICP.h.

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 208 of file CICP.h.