pcl::IterativeClosestPointNonLinear< PointSource, PointTarget > Class Template Reference

**IterativeClosestPointNonLinear** is an ICP variant that uses Levenberg-Marquardt optimization backend. The resultant transformation is optimized as a quaternion.
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`#include <icp_nl.h>`

Inheritance diagram for pcl::IterativeClosestPointNonLinear< PointSource, PointTarget >:

## Public Member Functions | |

IterativeClosestPointNonLinear () | |

Empty constructor. |

class pcl::IterativeClosestPointNonLinear< PointSource, PointTarget >

**IterativeClosestPointNonLinear** is an ICP variant that uses Levenberg-Marquardt optimization backend. The resultant transformation is optimized as a quaternion.

The algorithm has several termination criteria:

- Number of iterations has reached the maximum user imposed number of iterations (via setMaximumIterations)
- The epsilon (difference) between the previous transformation and the current estimated transformation is smaller than an user imposed value (via setTransformationEpsilon)
- The sum of Euclidean squared errors is smaller than a user defined threshold (via setEuclideanFitnessEpsilon)

template<typename PointSource, typename PointTarget>

pcl::IterativeClosestPointNonLinear< PointSource, PointTarget >::IterativeClosestPointNonLinear | ( | ) | ` [inline]` |

The documentation for this class was generated from the following file: