Most tracking systems (optical, magnetic...) provide some kind of information to help determine how reliable the pose estimation is. For example, Atracsys and NDi provide a single floating point RMS error. The meaning and scale of these numbers is likely vendor/implementation dependent so it's hard to standardize them. As usual, the two questions are what to provide and how:
- What:
- At least the raw number provided by the device
- Maybe a reference number to allow the user to determine what is good or bad. Alternatively, we could add an enum with predefined values: good, marginal, bad, not_found
- How:
Most tracking systems (optical, magnetic...) provide some kind of information to help determine how reliable the pose estimation is. For example, Atracsys and NDi provide a single floating point RMS error. The meaning and scale of these numbers is likely vendor/implementation dependent so it's hard to standardize them. As usual, the two questions are what to provide and how:
measured_csfor cartesian state and have a payload that contains the pose as well as the RMS. See also Extendingservocommands #6.