#include <Solver.h>

Inheritance diagram for mp2p_icp::Solver:

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

virtual bool	optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const

Public Attributes
uint32_t	runFromIteration = 0

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

Protected Member Functions
virtual bool	impl_optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const =0

Detailed Description

Virtual base class for optimal alignment solvers (one step in ICP).

Each "solver" implementation takes a list of correspondences, and returns the optimal (in some sense) relative SE(3) pose minimizing some particular error function.

Definition at line 46 of file Solver.h.

Member Function Documentation

◆ impl_optimal_pose()

virtual bool mp2p_icp::Solver::impl_optimal_pose	(	const Pairings &	pairings,
		OptimalTF_Result &	out,
		const SolverContext &	sc
	)		const

protectedpure virtual

Implemented in mp2p_icp::Solver_GaussNewton, mp2p_icp::Solver_OLAE, and mp2p_icp::Solver_Horn.

◆ initialize()

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

virtual

Check each derived class to see required and optional parameters.

Reimplemented in mp2p_icp::Solver_GaussNewton, mp2p_icp::Solver_OLAE, and mp2p_icp::Solver_Horn.

Definition at line 20 of file Solver.cpp.

◆ optimal_pose()

bool Solver::optimal_pose	(	const Pairings &	pairings,
		OptimalTF_Result &	out,
		const SolverContext &	sc
	)		const

virtual

Finds correspondences between the two point clouds. "out" is not cleared, but new pairings added to it.

Returns: true if the method was actually invoked (due to the filter in runFromIteration and runUpToIteration) and valid solution was found.

Definition at line 26 of file Solver.cpp.

Member Data Documentation

◆ runFromIteration

uint32_t mp2p_icp::Solver::runFromIteration = 0

Definition at line 64 of file Solver.h.

◆ runUpToIteration

uint32_t mp2p_icp::Solver::runUpToIteration = 0

0: no limit

Definition at line 65 of file Solver.h.

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

Public Member Functions

Public Attributes

Protected Member Functions