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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_b9dd3af08b5360c2148fef90713dd643.html">registration</a></li> </ul>
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<div class="title">registration_result.hpp</div> </div>
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<a href="registration__result_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Geometry></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
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<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html"> 11</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> {</div>
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<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a8a735bc874cae9d9007b357cc27ad377"> 12</a></span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a8a735bc874cae9d9007b357cc27ad377">RegistrationResult</a>(<span class="keyword">const</span> Eigen::Isometry3d& T = Eigen::Isometry3d::Identity())</div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  : <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>(T),</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a>(false),</div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">iterations</a>(0),</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">num_inliers</a>(0),</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">H</a>(Eigen::Matrix<double, 6, 6>::Zero()),</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">b</a>(Eigen::Matrix<double, 6, 1>::Zero()),</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">error</a>(0.0) {}</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a"> 21</a></span>  Eigen::Isometry3d <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>; </div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
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<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0"> 23</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a>; </div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02"> 24</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">iterations</a>; </div>
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<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77"> 25</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">num_inliers</a>; </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
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<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6"> 27</a></span>  Eigen::Matrix<double, 6, 6> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">H</a>; </div>
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<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991"> 28</a></span>  Eigen::Matrix<double, 6, 1> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">b</a>; </div>
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<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b"> 29</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">error</a>; </div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> };</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html">small_gicp::RegistrationResult</a></div><div class="ttdoc">Registration result.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a156b87db24f26b489f2fc3b39031df4a"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">small_gicp::RegistrationResult::T_target_source</a></div><div class="ttdeci">Eigen::Isometry3d T_target_source</div><div class="ttdoc">Estimated transformation.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:21</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a67f654ebc44255f4e74d91f9348c77a6"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">small_gicp::RegistrationResult::H</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 6 > H</div><div class="ttdoc">Final information matrix.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:27</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a6b0cc9f0812e2baefb547851660cef02"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">small_gicp::RegistrationResult::iterations</a></div><div class="ttdeci">size_t iterations</div><div class="ttdoc">Number of optimization iterations.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a8a735bc874cae9d9007b357cc27ad377"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a8a735bc874cae9d9007b357cc27ad377">small_gicp::RegistrationResult::RegistrationResult</a></div><div class="ttdeci">RegistrationResult(const Eigen::Isometry3d &T=Eigen::Isometry3d::Identity())</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a8f361198c487333477a8dc0e0efd7991"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">small_gicp::RegistrationResult::b</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 1 > b</div><div class="ttdoc">Final information vector.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:28</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a983e9c98d44b396ff28a0a2482d89f77"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">small_gicp::RegistrationResult::num_inliers</a></div><div class="ttdeci">size_t num_inliers</div><div class="ttdoc">Number of inliear points.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:25</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_aa392e951674da7d9c525f7e5e64618b0"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">small_gicp::RegistrationResult::converged</a></div><div class="ttdeci">bool converged</div><div class="ttdoc">If the optimization converged.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:23</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_ad7842fe29e514f215c711a00ae8a994b"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">small_gicp::RegistrationResult::error</a></div><div class="ttdeci">double error</div><div class="ttdoc">Final error.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:29</div></div>
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