Function mp2p_icp::eval_centroids_robust

• Defined in File Pairings.h

Function Documentation

std::tuple<mrpt::math::TPoint3D, mrpt::math::TPoint3D> mp2p_icp::eval_centroids_robust(const Pairings &in, const OutlierIndices &outliers)

Evaluates the centroids [ct_local, ct_global] for point-to-point correspondences only, taking into account the current guess for outliers