struct mrpt::tfest::TSE2RobustResult

Overview

Output placeholder for se2_l2_robust()

#include <mrpt/tfest/se2.h>

struct TSE2RobustResult
{
    // fields

    mrpt::poses::CPosePDFSOG transformation;
    mrpt::tfest::TMatchingPairList largestSubSet;
    unsigned int ransac_iters = 0;

    // construction

    TSE2RobustResult();
};

Fields

mrpt::poses::CPosePDFSOG transformation

The output as a set of transformations (sum of Gaussians)

mrpt::tfest::TMatchingPairList largestSubSet

The consensus subset (with at least ransac_minSetSize pairs) with the lowest RMSE.

unsigned int ransac_iters = 0

Number of iterations actually executed.