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ICPResult

rust_robotics_slam::icp_matching

Struct ICPResult

pub struct ICPResult {
    pub rotation: DMatrix<f64>,
    pub translation: DVector<f64>,
    pub iterations: usize,
    pub final_error: f64,
    pub final_error_mean: f64,
    pub initial_error_mean: f64,
    pub final_error_median: f64,
    pub final_error_p90: f64,
    pub inlier_ratio_5cm: f64,
    pub relative_error_reduction: f64,
    pub point_count: usize,
    pub converged: bool,
}

Fields§

§rotation: DMatrix<f64>§translation: DVector<f64>§iterations: usize§final_error: f64

Sum of nearest-neighbor distances (legacy; scales with point count).

§final_error_mean: f64

Mean nearest-neighbor distance [m/point]: final_error / point_count.

§initial_error_mean: f64

Mean nearest-neighbor distance before the first ICP update [m/point].

§final_error_median: f64

Median nearest-neighbor distance after applying the final transform.

§final_error_p90: f64

90th percentile nearest-neighbor distance after applying the final transform.

§inlier_ratio_5cm: f64

Fraction of final associations below 5 cm. Useful as a simple ICP quality diagnostic.

§relative_error_reduction: f64

Relative reduction from initial to final mean error. Negative values are clamped to 0.

§point_count: usize§converged: bool

Auto Trait Implementations§

impl Freeze for ICPResult

impl RefUnwindSafe for ICPResult

impl Send for ICPResult

impl Sync for ICPResult

impl Unpin for ICPResult

impl UnsafeUnpin for ICPResult

impl UnwindSafe for ICPResult

Blanket Implementations§

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