struct mrpt::tfest::TSE3RobustResult

Output placeholder for se3_l2_robust()

#include <mrpt/tfest/se3.h>

struct TSE3RobustResult
{
    //
fields

    mrpt::poses::CPose3DQuat transformation;
    double scale {.0};
    std::vector<uint32_t> inliers_idx;
};

Fields

mrpt::poses::CPose3DQuat transformation

The best transformation found.

double scale {.0}

The estimated scale of the rigid transformation (should be very close to 1.0)

std::vector<uint32_t> inliers_idx

Indexes within the in_correspondences list which corresponds with inliers.