OptimalTF_Result.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/poses/CPose3D.h>
 
namespace mp2p_icp
{
struct OptimalTF_Result
{
    mrpt::poses::CPose3D optimalPose;
    double               optimalScale = 1.0;
 
    OutlierIndices outliers;
};
 
}  // namespace mp2p_icp