optimal_tf_gauss_newton.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mp2p_icp/OptimalTF_Result.h>
#include <mp2p_icp/PairWeights.h>
#include <mp2p_icp/Pairings.h>

namespace mp2p_icp
{
struct OptimalTF_GN_Parameters
{
    bool verbose = false;

    uint32_t maxInnerLoopIterations = 6;

    double minDelta = 1e-7;

    double maxCost = 0;

    std::optional<mrpt::poses::CPose3D> linearizationPoint;

    PairWeights pairWeights;
};

[[nodiscard]] bool optimal_tf_gauss_newton(
    const Pairings& in, OptimalTF_Result& result,
    const OptimalTF_GN_Parameters& gnParams = OptimalTF_GN_Parameters());

}  // namespace mp2p_icp