Struct OptimalTF_GN_Parameters

Defined in File optimal_tf_gauss_newton.h

Struct Documentation

struct OptimalTF_GN_Parameters

Public Functions

OptimalTF_GN_Parameters() = default

Public Members

std::optional<mrpt::poses::CPose3D> linearizationPoint: The linerization point (the current relative pose guess)

std::optional<mrpt::poses::CPose3DPDFGaussianInf> 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.

double minDelta = 1e-7: Minimum SE(3) change to stop iterating.

double maxCost = 0: Maximum cost function; when reached, stop iterating.

PairWeights pairWeights

uint32_t maxInnerLoopIterations = 6: Maximum number of iterations trying to solve for the optimal pose

RobustKernel kernel = RobustKernel::None 

double kernelParam = 1.0

bool verbose = false