class mp2p_icp::LogRecord

Overview

Details on an ICP run, loadable from the GUI tool icp-log-viewer.

#include <LogRecord.h>

class LogRecord: public mrpt::serialization::CSerializable
{
public:
    // typedefs

    typedef std::size_t iteration_idx_t;
    typedef std::map<iteration_idx_t, DebugInfoPerIteration> IterationsDetails;

    // structs

    struct DebugInfoPerIteration;

    // fields

    metric_map_t::ConstPtr pcGlobal;
    metric_map_t::ConstPtr pcLocal;
    mrpt::math::TPose3D initialGuessLocalWrtGlobal;
    mp2p_icp::Parameters icpParameters;
    mp2p_icp::Results icpResult;
    std::map<std::string, double> dynamicVariables;
    std::optional<IterationsDetails> iterationsDetails;

    // methods

    bool save_to_file(const std::string& fileName) const;
    bool load_from_file(const std::string& fileName);
    static LogRecord LoadFromFile(const std::string& fileName);
};

Fields

metric_map_t::ConstPtr pcGlobal

The ICP input global and local point clouds:

Methods

bool save_to_file(const std::string& fileName) const

Saves the record object to a file, using MRPT serialization and using on-the-fly GZIP compression.

Returns:

true on success.

bool load_from_file(const std::string& fileName)

Loads the record object from a file. See save_to_file()

Returns:

true on success.

static LogRecord LoadFromFile(const std::string& fileName)

Static method alternative to load_from_file(). Throws on any error.

Returns:

The loaded object.