#include <Solver.h>
Public Member Functions | |
| SolverContext ()=default | |
Public Attributes | |
| std::optional< mrpt::poses::CPose3D > | currentCorrectionFromInitialGuess |
| std::optional< mrpt::poses::CPose3D > | guessRelativePose |
| std::optional< uint32_t > | icpIteration |
| std::optional< mrpt::poses::CPose3D > | lastIcpStepIncrement |
| std::map< const Solver *, std::map< std::string, std::any > > | perSolverPersistentData |
| std::optional< mrpt::poses::CPose3DPDFGaussianInf > | prior |
Defines the context of a solver within the successive ICP iterations.
|
default |
| std::optional<mrpt::poses::CPose3D> mp2p_icp::SolverContext::currentCorrectionFromInitialGuess |
| std::optional<mrpt::poses::CPose3D> mp2p_icp::SolverContext::guessRelativePose |
| std::optional<uint32_t> mp2p_icp::SolverContext::icpIteration |
| std::optional<mrpt::poses::CPose3D> mp2p_icp::SolverContext::lastIcpStepIncrement |
|
mutable |
| std::optional<mrpt::poses::CPose3DPDFGaussianInf> mp2p_icp::SolverContext::prior |
Optional prior guess of the SE(3) solution, including a mean value and an inverse covariance (information) matrix, i.e. zeros in the diagonal mean that those prior coordinates should be ignored, a large value means the solution must be close to those coordinates.