Struct Results
Defined in File Results.h
Struct Documentation
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struct Results
Public Functions
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void serializeTo(mrpt::serialization::CArchive &out) const
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void serializeFrom(mrpt::serialization::CArchive &in)
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void print(std::ostream &o) const
Print all results in human-friendly format to the given output, for example, use
std::cout.
Public Members
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mrpt::poses::CPose3DPDFGaussian optimal_tf
The found value (mean + covariance) of the optimal transformation of “local” wrt “global”.
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double optimalScale = 1.0
Found scale (if supported by the underlying algorithm) for optimal_tf
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size_t nIterations = 0
The number of executed iterations until convergence
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IterTermReason terminationReason = {IterTermReason::Undefined}
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double quality = 0
A measure of the ‘quality’ of the matching. Different modules are available to evaluate the quality in ICP_Base.
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void serializeTo(mrpt::serialization::CArchive &out) const