struct mola::SMGeoReferencingOutput

Overview

#include <simplemap_georeference.h>

struct SMGeoReferencingOutput
{
    // fields

    std::optional<mp2p_icp::metric_map_t::Georeferencing> geo_ref;
    bool has_geodetic_datum = false;
    double final_rmse = .0;
};

Fields

std::optional<mp2p_icp::metric_map_t::Georeferencing> geo_ref

Will be nullopt if georeferencing failed, e.g. due to insufficient GNSS data.

bool has_geodetic_datum = false

True if geo_ref->geo_coord was actually derived from GNSS data. False (default) means it was left at its zero-initialized value, e.g. because only IMU data was available for gravity alignment; in that case, geo_ref->geo_coord must NOT be treated as a real geodetic reference (e.g. for datum re-centering).