struct mp2p_icp::CovFeatureEvaluator::Assoc

Overview

struct Assoc
{
    // fields

    bool ok = false;
    double r = 0;
    double d = 0;
    size_t mapIdx = 0;
    Eigen::Vector3d n = Eigen::Vector3d::Zero();
};

Fields

double r = 0

point-to-plane residual [m]

double d = 0

point-to-point distance [m]

Eigen::Vector3d n = Eigen::Vector3d::Zero()

map-frame normal