Distance from cloud to reference

[Kailegh]

Is there any way of knowing how well the ICP has been? I have seen the pointUsedRatio and the getWeightedPointUsedRatio() in the errorMinimezer class. However that only gives me the ratio of used points for the registration, do you include any algorithm for computing the distance between the two clouds?

Thanks a lot!

[pomerlef]

You can have a look at the issue #125 for general information.

There is now a method called getResidualError() introduced with the pull request #154.

[Kailegh]

thanks for the help, I saw those issues and I ended up in this tutorial:
https://github.com/ethz-asl/libpointmatcher/blob/master/examples/icp_advance_api.cpp
that is what I think I was looking for, thanks a lot

[pomerlef]

no problem!