enum mrpt::slam::TICPCovarianceMethod

Overview

ICP covariance estimation methods, used in mrpt::slam::CICP::options. More…

#include <CICP.h>

enum TICPCovarianceMethod
{
    icpCovLinealMSE         = 0,
    icpCovFiniteDifferences,
};

Detailed Documentation

ICP covariance estimation methods, used in mrpt::slam::CICP::options.

Enum Values

icpCovLinealMSE

Use the covariance of the optimal registration, disregarding uncertainty in data association.

icpCovFiniteDifferences

Covariance of a least-squares optimizer (includes data association uncertainty)