Struct ICPSuccess

pub struct ICPSuccess<T: Scalar, R: AbstractRotation<T, N>, const N: usize> {
    pub transform: Isometry<T, R, N>,
    pub mse: T,
    pub iteration_num: usize,
}

Contains the resulting transform, the resulting Mean Squared Error, and the number of iterations taken for a successful ICP convergence.

Fields

transform: Isometry<T, R, N>

An isometric matrix, containing the translation and rotation between the point sets. In 2D space, its rotation component would be a UnitComplex, in 3D space it would be a UnitQuaternion.

mse: T

Mean Squared Error, this is the distances between each point in points_a and its corresponding point in points_b, This can be used to determine whether the ICP converged correctly, or simply on its local minimum.

iteration_num: usize

The amount of iterations passed until convergence.

Trait Implementations

impl<T: Debug + Scalar, R: Debug + AbstractRotation<T, N>, const N: usize> Debug for ICPSuccess<T, R, N>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.