struct mp2p_icp::LearnedCovarianceEstimator::Request

Overview

#include <LearnedCovarianceEstimator.h>

struct Request
{
    // fields

    mrpt::maps::CPointsMap::Ptr scan;
    mrpt::poses::CPose3D solution;
    CovFeatureContext context;
};

Fields

mrpt::maps::CPointsMap::Ptr scan

Query scan in the vehicle frame: full resolution, de-skewed. Shared, not copied: do not modify it before the result is ready.

mrpt::poses::CPose3D solution

Registration result: vehicle pose in the map frame.

CovFeatureContext context

How the result was obtained (initial guess, prior, iterations…).