Inheritance diagram for mp2p_icp::Solver_GaussNewton:

[legend]

Public Member Functions
void	initialize (const mrpt::containers::yaml &params) override

Public Member Functions inherited from mp2p_icp::Solver
virtual bool	optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const

Public Attributes
bool	innerLoopVerbose = false
	Prints GN inner loop details. More...

uint32_t	maxIterations = 5

PairWeights	pairWeights

Public Attributes inherited from mp2p_icp::Solver
uint32_t	runFromIteration = 0

uint32_t	runUpToIteration = 0
	0: no limit More...

Protected Member Functions
bool	impl_optimal_pose (const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const override

Detailed Description

ICP registration for points, planes, and lines, using an iterative Gauss-Newton numerical solver.

Definition at line 24 of file Solver_GaussNewton.h.

Member Function Documentation

bool Solver_GaussNewton::impl_optimal_pose	(	const Pairings &	pairings,
		OptimalTF_Result &	out,
		const SolverContext &	sc
	)		const

overrideprotectedvirtual

Definition at line 31 of file Solver_GaussNewton.cpp.

void Solver_GaussNewton::initialize ( const mrpt::containers::yaml & params )

overridevirtual

Check each derived class to see required and optional parameters.

Reimplemented from mp2p_icp::Solver.

Definition at line 21 of file Solver_GaussNewton.cpp.

bool mp2p_icp::Solver_GaussNewton::innerLoopVerbose = false

Prints GN inner loop details.

Definition at line 31 of file Solver_GaussNewton.h.

uint32_t mp2p_icp::Solver_GaussNewton::maxIterations = 5

Definition at line 29 of file Solver_GaussNewton.h.

PairWeights mp2p_icp::Solver_GaussNewton::pairWeights

Definition at line 30 of file Solver_GaussNewton.h.

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