SICPMsgPayload

struct SICPMsgPayload

Message containing the output of the Scaling Iterative Closest Point algorithm.

This message is output by the SICP module and contains the scaling matrix, rotation matrix, and translation vector output after two point clouds are registered.

Public Members

bool valid

—[-] Message was purposefully populated

uint64_t numberOfIteration

—[-] Number of iterations used for SICP convergence

uint64_t timeTag

—[-] Time at which these iterations were computed

double scaleFactor[MAX_SICP_ITERATIONS]

— [-] Array of scale factors

double rotationMatrix[SICP_POINT_DIM * SICP_POINT_DIM * MAX_SICP_ITERATIONS]

— [-] Array of rotation matrices

double translation[SICP_POINT_DIM * MAX_SICP_ITERATIONS]

— [-] Array of translation vectors