Is there any way to get together with the pose, also the inlier matches?

[johannes-graeter]

Question from @dannyway03 issue #3 :+1: A side question, is there any way to get together with the pose, also the inlier matches?

[johannes-graeter]

Yes, the optimizer uses robust loss functions in order to reduce the influence of outliers. The outlier detector https://github.com/johannes-graeter/momo/blob/master/include/momo/outlier_detector.hpp Evaluates the amount that the measurements are downweighted for the final result. If they are above a certain threshold they are marked as outlier.

Best, Johannes