struct mp2p_icp::CovFeatureContext

Overview

What the evaluator is told about how a registration result was obtained.

#include <IcpCovFeatures.h>

struct CovFeatureContext
{
    // fields

    mrpt::poses::CPose3D initialGuess;
    std::optional<Eigen::Matrix<double, 6, 6>> priorCovariance;
    bool priorInSolver = false;
    double iterations = 0;
    bool converged = true;
    double quality = std::numeric_limits<double>::quiet_NaN();
};

Fields

mrpt::poses::CPose3D initialGuess

Initial guess of the registration (vehicle pose in the map frame).

std::optional<Eigen::Matrix<double, 6, 6>> priorCovariance

Covariance of the initial guess, in its right SE(3) tangent [x y z rx ry rz], if known.

bool priorInSolver = false

Whether the solver used it as a prior.