Function mp2p_icp::optimal_tf_gauss_newton

• Defined in File optimal_tf_gauss_newton.h

Function Documentation

bool mp2p_icp::optimal_tf_gauss_newton(const Pairings &in, OptimalTF_Result &result, const OptimalTF_GN_Parameters &gnParams = OptimalTF_GN_Parameters())

Gauss-Newton non-linear, iterative optimizer to find the SE(3) optimal transformation between a set of correspondences.

This method requires a linearization point in OptimalTF_GN_Parameters::linearizationPoint.

Returns:

false If the number of pairings is too small for a unique solution, true on success.