Struct IcpResult 

pub struct IcpResult {
    pub pose: Se3,
    pub iterations: usize,
    pub converged: bool,
    pub rmse: f64,
    pub correspondences: usize,
    pub information: Matrix6<f64>,
}

The result of a registration.

Fields

pose: Se3

The transform found: it carries the source into the target frame.

iterations: usize

How many iterations ran.

converged: bool

Whether the step fell below the thresholds.

rmse: f64

Root-mean-square residual over the accepted correspondences.

correspondences: usize

How many correspondences survived rejection.

information: Matrix6<f64>

The matrix H = JᵀWJ at the final pose.

Keeping it in the result is a deliberate choice rather than a convenience: this matrix is what the whole project is about. It is what the TSQR path is compared against, and what the conditioning analysis is derived from.

Trait Implementations

impl Clone for IcpResult

fn clone(&self) -> IcpResult

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for IcpResult

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

Formats the value using the given formatter.