#include <LogRecord.h>

Inheritance diagram for mp2p_icp::LogRecord:

Classes
struct	DebugInfoPerIteration

Public Member Functions
	LogRecord ()=default

	~LogRecord ()=default

Data fields
using	iteration_idx_t = std::size_t

using	IterationsDetails = std::map< iteration_idx_t, DebugInfoPerIteration >

metric_map_t::ConstPtr	pcGlobal

metric_map_t::ConstPtr	pcLocal

mrpt::math::TPose3D	initialGuessLocalWrtGlobal

mp2p_icp::Parameters	icpParameters

mp2p_icp::Results	icpResult

std::optional< IterationsDetails >	iterationsDetails

Methods
bool	save_to_file (const std::string &fileName) const

bool	load_from_file (const std::string &fileName)

static LogRecord	LoadFromFile (const std::string &fileName)

Detailed Description

Details on an ICP run, loadable from the GUI tool mp2p-icp-log-viewer.

Definition at line 30 of file LogRecord.h.

Member Typedef Documentation

◆ iteration_idx_t

using mp2p_icp::LogRecord::iteration_idx_t = std::size_t

Definition at line 59 of file LogRecord.h.

◆ IterationsDetails

using mp2p_icp::LogRecord::IterationsDetails = std::map<iteration_idx_t, DebugInfoPerIteration>

Definition at line 60 of file LogRecord.h.

Constructor & Destructor Documentation

◆ LogRecord()

mp2p_icp::LogRecord::LogRecord ( )

default

◆ ~LogRecord()

mp2p_icp::LogRecord::~LogRecord ( )

default

Member Function Documentation

◆ load_from_file()

bool LogRecord::load_from_file ( const std::string & fileName )

Loads the record object from a file. See \save_to_file()

Returns: true on success.

Definition at line 85 of file LogRecord.cpp.

◆ LoadFromFile()

static LogRecord mp2p_icp::LogRecord::LoadFromFile ( const std::string & fileName )

inlinestatic

Static method alternative to load_from_file(). Throws on any error.

Returns: The loaded object.

Definition at line 85 of file LogRecord.h.

◆ save_to_file()

bool LogRecord::save_to_file ( const std::string & fileName ) const

Saves the record object to a file, using MRPT serialization and using on-the-fly GZIP compression.

Returns: true on success.

Definition at line 74 of file LogRecord.cpp.

Member Data Documentation

◆ icpParameters

mp2p_icp::Parameters mp2p_icp::LogRecord::icpParameters

Definition at line 46 of file LogRecord.h.

◆ icpResult

mp2p_icp::Results mp2p_icp::LogRecord::icpResult

Definition at line 47 of file LogRecord.h.

◆ initialGuessLocalWrtGlobal

mrpt::math::TPose3D mp2p_icp::LogRecord::initialGuessLocalWrtGlobal

Definition at line 44 of file LogRecord.h.

◆ iterationsDetails

std::optional<IterationsDetails> mp2p_icp::LogRecord::iterationsDetails

Definition at line 62 of file LogRecord.h.

◆ pcGlobal

metric_map_t::ConstPtr mp2p_icp::LogRecord::pcGlobal

The ICP input global and local point clouds:

Definition at line 42 of file LogRecord.h.

◆ pcLocal

metric_map_t::ConstPtr mp2p_icp::LogRecord::pcLocal