covariance.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mp2p_icp/Pairings.h>
#include <mrpt/math/CMatrixFixed.h>

namespace mp2p_icp
{
struct CovarianceParameters
{
    // Finite difference deltas:
    double finDif_xyz    = 1e-7;
    double finDif_angles = 1e-7;
};

mrpt::math::CMatrixDouble66 covariance(
    const Pairings&             finalPairings,
    const mrpt::poses::CPose3D& finalAlignSolution,
    const CovarianceParameters& p);

}  // namespace mp2p_icp