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koide3 / small_gicp

Efficient and parallel algorithms for point cloud registration [C++, Python]
MIT License
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Where can I find definitions/documentation for `RegistrationResult`? #35

Closed gabrielnan closed 3 months ago

gabrielnan commented 3 months ago

I'm trying to understand how RegistrationResult::{H,b,error} are defined. Please let me know where I can find documentation for these.

koide3 commented 3 months ago

error is the final registration error (the sum of per-point D2D distances in case of GICP), and H and b are its quadratic approximation parameters. They correspond to the symbols in Eq. 15 of the following paper.

http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf