Enum IcpStatus 

pub enum IcpStatus {
    Converged,
    MaxIterations,
    Underconstrained,
    TooFewCorrespondences,
    Diverged,
}

Why icp() stopped.

Variants

Converged

A step fell below the tolerance, and the determination check (see the module docs) found every motion determined by the data.

MaxIterations

max_iterations steps ran out first, and no motion was found undetermined (the check does not run with zero iterations).

Underconstrained

The data do not determine the pose: IcpReport::undetermined says along which motions, when the check could tell. The pose along those is arbitrary, whatever the rmse; distances are still minimised along the rest. Iteration may also have run out of steps, wandering along such a motion.

TooFewCorrespondences

Fewer than six usable correspondences (see IcpOptions::max_distance).

Diverged

A step took a point out of the range the query can represent.

Trait Implementations

impl Clone for IcpStatus

fn clone(&self) -> IcpStatus

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for IcpStatus

impl Debug for IcpStatus

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

Formats the value using the given formatter.

impl Eq for IcpStatus

impl PartialEq for IcpStatus

fn eq(&self, other: &IcpStatus) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for IcpStatus