#include <Solver.h>

Inheritance diagram for mp2p_icp::Solver:

[legend]

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 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	enabled = true

uint32_t	runFromIteration = 0

double	runUntilTranslationCorrectionSmallerThan = 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

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

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 65 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 28 of file Solver.cpp.

Member Data Documentation

◆ enabled

bool mp2p_icp::Solver::enabled = true

Can be used to disable one of a set of solvers in a pipeline

Definition at line 94 of file Solver.h.

◆ runFromIteration

uint32_t mp2p_icp::Solver::runFromIteration = 0

Definition at line 88 of file Solver.h.

◆ runUntilTranslationCorrectionSmallerThan

double mp2p_icp::Solver::runUntilTranslationCorrectionSmallerThan = 0

Definition at line 91 of file Solver.h.

◆ runUpToIteration

uint32_t mp2p_icp::Solver::runUpToIteration = 0

0: no limit

Definition at line 89 of file Solver.h.

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

Public Member Functions

Public Attributes

Protected Member Functions