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The previous method is sensitive to priors with extreme covariances, producing unstable RANSAC thresholds.
This PR computes the mean RMS stddev from valid covariances and scale it by sqrt(chi-square 95% quantile, dof=3)
to yield an approximate 95% 3D confidence radius.
StonerLing and others added 2 commits
October 21, 2025 13:45
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Last request: Can we adjust existing tests or create a new one to cover this new feature? Thanks.
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Added two simple tests.
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