optimal_tf_gauss_newton.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/OptimalTF_Result.h>
#include <mp2p_icp/PairWeights.h>
#include <mp2p_icp/Pairings.h>
#include <mp2p_icp/robust_kernels.h>
#include <mrpt/poses/CPose3DPDFGaussianInf.h>
 
namespace mp2p_icp
{
struct OptimalTF_GN_Parameters
{
    OptimalTF_GN_Parameters() = default;
 
    std::optional<mrpt::poses::CPose3D> linearizationPoint;
 
    std::optional<mrpt::poses::CPose3DPDFGaussianInf> prior;
 
    double minDelta = 1e-7;
 
    double maxCost = 0;
 
    PairWeights pairWeights;
 
    uint32_t maxInnerLoopIterations = 6;
 
    RobustKernel kernel      = RobustKernel::None;
    double       kernelParam = 1.0;
 
    bool verbose = false;
};
 
[[nodiscard]] bool optimal_tf_gauss_newton(
    const Pairings& in, OptimalTF_Result& result,
    const OptimalTF_GN_Parameters& gnParams = OptimalTF_GN_Parameters());
 
}  // namespace mp2p_icp