Struct CICP::TReturnInfo

• Defined in File CICP.h

Nested Relationships

This struct is a nested type of Class CICP.

Inheritance Relationships

Base Type

• public mrpt::slam::TMetricMapAlignmentResult (Struct TMetricMapAlignmentResult)

Struct Documentation

struct TReturnInfo : public mrpt::slam::TMetricMapAlignmentResult

The ICP algorithm return information

Public Functions

TReturnInfo() = default

virtual ~TReturnInfo() override = default

Public Members

unsigned int nIterations = 0

The number of executed iterations until convergence

double goodness = 0

A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.

double quality = 0

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)