Class LogRecord

• Defined in File LogRecord.h

Nested Relationships

Nested Types

• Struct LogRecord::DebugInfoPerIteration

Inheritance Relationships

Base Type

• public mrpt::serialization::CSerializable

Class Documentation

class LogRecord : public mrpt::serialization::CSerializable

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

Data fields

using iteration_idx_t = std::size_t

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

metric_map_t::ConstPtr pcGlobal

The ICP input global and local point clouds:

metric_map_t::ConstPtr pcLocal

mrpt::math::TPose3D initialGuessLocalWrtGlobal

mp2p_icp::Parameters icpParameters

mp2p_icp::Results icpResult

std::map<std::string, double> dynamicVariables

std::optional<IterationsDetails> iterationsDetails

Methods

bool 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.

bool load_from_file(const std::string &fileName)

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

Returns:

true on success.

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

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

Returns:

The loaded object.

Public Functions

LogRecord() = default

~LogRecord() = default

struct DebugInfoPerIteration

Public Functions

void serializeTo(mrpt::serialization::CArchive &out) const

void serializeFrom(mrpt::serialization::CArchive &in)

Public Members

mrpt::poses::CPose3D optimalPose

for this ICP iteration

Pairings pairings