Class Solver_GaussNewton

Defined in File Solver_GaussNewton.h

Inheritance Relationships

Base Type

public mp2p_icp::Solver (Class Solver)

Class Documentation

class Solver_GaussNewton : public mp2p_icp::Solver 

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

Public Functions

virtual void initialize(const mrpt::containers::yaml &params) override: Check each derived class to see required and optional parameters.

Public Members

uint32_t maxIterations = 5

PairWeights pairWeights

RobustKernel robustKernel = RobustKernel::None 

double robustKernelParam = 1.0

bool innerLoopVerbose = false: Prints GN inner loop details.

Protected Functions

virtual bool impl_optimal_pose(const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const override