struct mp2p_icp::point_with_cov_pair_t

Overview

point-with-cov correspondences

#include <point_with_cov_pair_t.h>

struct point_with_cov_pair_t
{
    // fields

    mrpt::math::TPoint3Df global;
    mrpt::math::TPoint3Df local;
    uint32_t global_idx = std::numeric_limits<uint32_t>::max();
    uint32_t local_idx = std::numeric_limits<uint32_t>::max();
    mrpt::math::CMatrixFloat33 cov_inv;

    // methods

    std::string asString() const;
};

Fields

mrpt::math::CMatrixFloat33 cov_inv

The Mahalanobis distance weight matrix. Following GICP [2] this should be: (COV_{global} + R*COV_{local}*R^T)^{-1}

Methods

std::string asString() const

Retuns a printable description of the structure, mostly for debugging