struct mp2p_icp::OptimalTF_Result

Overview

The is the output structure for all optimal transformation methods.

#include <OptimalTF_Result.h>

struct OptimalTF_Result
{
    // fields

    mrpt::poses::CPose3D optimalPose;
    double optimalScale = 1.0;
    OutlierIndices outliers;
    double gravity_information_share = -1.0;
};

Fields

OutlierIndices outliers

Correspondence that were detected as outliers.

double gravity_information_share = -1.0

Share of the final rotational information that came from the gravity prior, in [0,1], on the last Gauss-Newton iteration; <0 when no prior was given.

A verticality prior competes against the point pairs for the same two tilt DOFs, but it is expressed in radians while they are in metres, so its influence is set by the pair count and their lever arms and is not readable from sigma_rad alone. This reports what it actually was.