Public Attributes
std::optional< mrpt::poses::CPose3D >	linearizationPoint

double	maxCost = 0

uint32_t	maxInnerLoopIterations = 6

double	minDelta = 1e-7

PairWeights	pairWeights

bool	verbose = false

Detailed Description

Definition at line 23 of file optimal_tf_gauss_newton.h.

Member Data Documentation

std::optional<mrpt::poses::CPose3D> mp2p_icp::OptimalTF_GN_Parameters::linearizationPoint

The linerization point (the current relative pose guess)

Definition at line 37 of file optimal_tf_gauss_newton.h.

double mp2p_icp::OptimalTF_GN_Parameters::maxCost = 0

Maximum cost function; when reached, stop iterating.

Definition at line 34 of file optimal_tf_gauss_newton.h.

uint32_t mp2p_icp::OptimalTF_GN_Parameters::maxInnerLoopIterations = 6

Maximum number of iterations trying to solve for the optimal pose

Definition at line 28 of file optimal_tf_gauss_newton.h.

double mp2p_icp::OptimalTF_GN_Parameters::minDelta = 1e-7

Minimum SE(3) change to stop iterating.

Definition at line 31 of file optimal_tf_gauss_newton.h.

PairWeights mp2p_icp::OptimalTF_GN_Parameters::pairWeights

Definition at line 39 of file optimal_tf_gauss_newton.h.

bool mp2p_icp::OptimalTF_GN_Parameters::verbose = false

Definition at line 25 of file optimal_tf_gauss_newton.h.

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