struct mp2p_icp::PointCloudEigen

Overview

Output of estimate_points_eigen()

Eigen vectors and eigen values are sorted from smallest to largest eigenvalue.

#include <estimate_points_eigen.h>

struct PointCloudEigen
{
    // fields

    mrpt::poses::CPointPDFGaussian meanCov;
    std::array<mrpt::math::TVector3D, 3> eigVectors = {         {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}};
    std::array<double, 3> eigVals = {0, 0, 0};
};

Fields

std::array<double, 3> eigVals = {0, 0, 0}

sorted in ascending order