Resulting statistics about the latest ICP run.
This includes statistics about how well ICP worked (residual errors, number of iterations, inlier fraction).
Definition at line 86 of file PointCloudICP.h.
Data Fields | |
| uint16_t | actualNumIterations |
| How many iterations were actually performed. More... | |
| float32_t | rmsCost |
| Weighted root mean square (RMS) cost after last ICP iteration. More... | |
| float32_t | inlierFraction |
| Fraction of points which are inliers to the final ICP pose. More... | |
| uint32_t | numCorrespondences |
| Number of 3D points which qualify as valid correspondences. More... | |
| uint16_t dwPointCloudICPResultStats::actualNumIterations |
How many iterations were actually performed.
Definition at line 89 of file PointCloudICP.h.
| float32_t dwPointCloudICPResultStats::inlierFraction |
Fraction of points which are inliers to the final ICP pose.
Definition at line 93 of file PointCloudICP.h.
| uint32_t dwPointCloudICPResultStats::numCorrespondences |
Number of 3D points which qualify as valid correspondences.
Definition at line 95 of file PointCloudICP.h.
| float32_t dwPointCloudICPResultStats::rmsCost |
Weighted root mean square (RMS) cost after last ICP iteration.
Definition at line 91 of file PointCloudICP.h.