#include <Solver_GaussNewton.h>

Inheritance diagram for mp2p_icp::Solver_GaussNewton:

[legend]

Public Member Functions
void	initialize (const mrpt::containers::yaml &params) override

Public Member Functions inherited from mp2p_icp::Solver
virtual bool	optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const

Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()

const ParameterSource *	attachedSource () const

virtual void	attachToParameterSource (ParameterSource &source)

void	checkAllParametersAreRealized () const

auto &	declaredParameters ()

const auto &	declaredParameters () const

void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Public Attributes
bool	innerLoopVerbose = false
	Prints GN inner loop details. More...

uint32_t	maxIterations = 5

PairWeights	pairWeights

RobustKernel	robustKernel = RobustKernel::None

double	robustKernelParam = 1.0

Public Attributes inherited from mp2p_icp::Solver
bool	enabled = true

uint32_t	runFromIteration = 0

double	runUntilTranslationCorrectionSmallerThan = 0

uint32_t	runUpToIteration = 0
	0: no limit More...

Protected Member Functions
bool	impl_optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const override

Protected Member Functions inherited from mp2p_icp::Parameterizable
void	parseAndDeclareParameter (const std::string &value, double &target)

void	parseAndDeclareParameter (const std::string &value, float &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	parseAndDeclareParameter (const std::string &value, uint32_t &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Detailed Description

ICP registration for points, planes, and lines, using an iterative Gauss-Newton numerical solver.

Definition at line 25 of file Solver_GaussNewton.h.

Member Function Documentation

◆ impl_optimal_pose()

bool Solver_GaussNewton::impl_optimal_pose	(	const Pairings &	pairings,
		OptimalTF_Result &	out,
		const SolverContext &	sc
	)		const

overrideprotectedvirtual

Implements mp2p_icp::Solver.

Definition at line 34 of file Solver_GaussNewton.cpp.

◆ initialize()

void Solver_GaussNewton::initialize ( const mrpt::containers::yaml & params )

overridevirtual

Check each derived class to see required and optional parameters.

Reimplemented from mp2p_icp::Solver.

Definition at line 21 of file Solver_GaussNewton.cpp.

Member Data Documentation

◆ innerLoopVerbose

bool mp2p_icp::Solver_GaussNewton::innerLoopVerbose = false

Prints GN inner loop details.

Definition at line 35 of file Solver_GaussNewton.h.

◆ maxIterations

uint32_t mp2p_icp::Solver_GaussNewton::maxIterations = 5

Definition at line 30 of file Solver_GaussNewton.h.

◆ pairWeights

PairWeights mp2p_icp::Solver_GaussNewton::pairWeights

Definition at line 31 of file Solver_GaussNewton.h.

◆ robustKernel

RobustKernel mp2p_icp::Solver_GaussNewton::robustKernel = RobustKernel::None

Definition at line 33 of file Solver_GaussNewton.h.

◆ robustKernelParam

double mp2p_icp::Solver_GaussNewton::robustKernelParam = 1.0

Definition at line 34 of file Solver_GaussNewton.h.

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

Public Member Functions

Public Attributes

Protected Member Functions