struct mp2p_icp::LearnedCovarianceEstimator::Result

Overview

#include <LearnedCovarianceEstimator.h>

struct Result
{
    // fields

    bool ok = false;
    Eigen::Matrix<double, 6, 6> Sigma = Eigen::Matrix<double, 6, 6>::Zero();
    double pFail = 0;
};

Fields

bool ok = false

False if no learned covariance is available for this request: empty window, too few associations, or the worker fell behind.

Eigen::Matrix<double, 6, 6> Sigma = Eigen::Matrix<double, 6, 6>::Zero()

Covariance in the right tangent [x y z rx ry rz] of the solution.

double pFail = 0

Probability that the registration failed.