Solver_GaussNewton.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/PairWeights.h>
#include <mp2p_icp/Solver.h>
#include <mp2p_icp/robust_kernels.h>
 
namespace mp2p_icp
{
class Solver_GaussNewton : public Solver
{
    DEFINE_MRPT_OBJECT(Solver_GaussNewton, mp2p_icp)
 
   public:
    uint32_t    maxIterations = 5;
    PairWeights pairWeights;
 
    RobustKernel robustKernel      = RobustKernel::None;
    double       robustKernelParam = 1.0;
    bool         innerLoopVerbose  = false;  
 
    void initialize(const mrpt::containers::yaml& params) override;
 
   protected:
    // See base class docs
    bool impl_optimal_pose(
        const Pairings& pairings, OptimalTF_Result& out,
        const SolverContext& sc) const override;
};
 
}  // namespace mp2p_icp