enum mp2p_icp::CovarianceParameters::Method

Overview

Covariance estimation backend. More…

#include <covariance.h>

enum Method
{
    InverseHessian,
    Censi3D,
};

Detailed Documentation

Covariance estimation backend.

Enum Values

InverseHessian

Inverse of the (whitened) Gauss-Newton Hessian, scaled by the a-posteriori unit-weight variance chi^2/(m-n). Cheap but typically optimistic, since it ignores correspondence and surface-mismatch noise.

Censi3D

Censi-style sandwich H^{-1} M H^{-1}, with H = sum J_i^T J_i and M = sum J_i^T Sigma_z_i J_i. For cov2cov pairings the per-pair Sigma_z = inv(cov_inv) is used directly; for pt2pt without per-pair noise, an isotropic Sigma_z = defaultPointSigma^2 * I is assumed. Reference: Censi 2007, Prakhya 2015.