Struct IcpReport 

pub struct IcpReport {
    pub transform: Rigid,
    pub rmse: f64,
    pub iterations: usize,
    pub status: IcpStatus,
    pub samples: usize,
    pub inliers: usize,
    pub conditioning: f64,
    pub undetermined: Vec<IcpMotion>,
    pub extent: f64,
}

What icp() found. Every number is finite, except that rmse is infinite when no point has a correspondence. rmse is measured in f64 from the points to the chosen triangles.

Fields

transform: Rigid

The transform from the points to the fixed mesh’s local coordinates. When the status is IcpStatus::Converged or IcpStatus::Underconstrained, the pose iteration stopped at; otherwise the best pose seen (most points used, then lowest rmse).

rmse: f64

The root mean square distance from the used points to the fixed mesh at transform.

iterations: usize

Steps taken.

status: IcpStatus

Why iteration stopped.

samples: usize

Points given.

inliers: usize

Points used at transform.

conditioning: f64

The smallest eigenvalue over the largest of the normalised normal equations at the last step, in [0, 1]. Geometry only, with no reference to noise: a low value warns of a weak motion, but a high one does not show that the motion is determined, for which see undetermined. Zero when no step ran.

undetermined: Vec<IcpMotion>

The motions the data do not determine: moving the pose along one and iterating again ended at a different pose that fits as well. Empty when the status is IcpStatus::Converged. Weakest first.

extent: f64

The points’ extent: their largest distance from their centroid.

Implementations

impl IcpReport

pub fn converged(&self) -> bool

Whether the status is IcpStatus::Converged.

Trait Implementations

impl Clone for IcpReport

fn clone(&self) -> IcpReport

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IcpReport

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

Formats the value using the given formatter.

impl PartialEq for IcpReport

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for IcpReport