registration_result.hpp

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#pragma once
 
#include <vector>
 
#include <Eigen/Dense>
 
namespace toolbox::pcl
{
 
template<typename DataType>
struct registration_result_t
{
  using transformation_t = Eigen::Matrix<DataType, 4, 4>;
 
  transformation_t transformation;  
  DataType fitness_score;  
  std::vector<std::size_t> inliers;  
  std::size_t num_iterations = 0;  
  bool converged = false;  
};
 
template<typename DataType>
struct iteration_state_t
{
  using transformation_t = Eigen::Matrix<DataType, 4, 4>;
 
  std::size_t iteration = 0;  
  transformation_t transformation;  
  DataType error = 0;  
  DataType error_change = 0;  
  std::size_t num_correspondences =
      0;  
};
 
template<typename DataType>
struct fine_registration_result_t
{
  using transformation_t = Eigen::Matrix<DataType, 4, 4>;
 
  transformation_t transformation =
      transformation_t::Identity();  
  transformation_t initial_transformation =
      transformation_t::Identity();  
  DataType final_error =
      std::numeric_limits<DataType>::max();  
  std::size_t iterations_performed =
      0;  
  bool converged = false;  
  std::string termination_reason =
      "not started";  
  std::vector<iteration_state_t<DataType>>
      history;  
};
 
}  // namespace toolbox::pcl