submodules
mp2p_icp
mp2p_icp
include
mp2p_icp
Solver_GaussNewton.h
Go to the documentation of this file.
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/* -------------------------------------------------------------------------
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* A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
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* Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
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* See LICENSE for license information.
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* ------------------------------------------------------------------------- */
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#pragma once
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#include <
mp2p_icp/PairWeights.h
>
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#include <
mp2p_icp/Solver.h
>
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namespace
mp2p_icp
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{
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class
Solver_GaussNewton
:
public
Solver
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{
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DEFINE_MRPT_OBJECT(
Solver_GaussNewton
,
mp2p_icp
)
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public
:
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uint32_t
maxIterations
= 5;
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PairWeights
pairWeights
;
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bool
innerLoopVerbose
=
false
;
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void
initialize
(
const
mrpt::containers::yaml& params)
override
;
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protected
:
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// See base class docs
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bool
impl_optimal_pose
(
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const
Pairings
& pairings,
OptimalTF_Result
&
out
,
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const
SolverContext
& sc)
const override
;
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};
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}
// namespace mp2p_icp
PairWeights.h
Common types for all SE(3) optimal transformation methods.
mp2p_icp
Definition:
covariance.h:17
mp2p_icp::Solver_GaussNewton
Definition:
Solver_GaussNewton.h:24
mp2p_icp::Pairings
Definition:
Pairings.h:94
mp2p_icp::Solver_GaussNewton::pairWeights
PairWeights pairWeights
Definition:
Solver_GaussNewton.h:30
mp2p_icp::Solver_GaussNewton::maxIterations
uint32_t maxIterations
Definition:
Solver_GaussNewton.h:29
mp2p_icp::SolverContext
Definition:
Solver.h:30
mp2p_icp::OptimalTF_Result
Definition:
OptimalTF_Result.h:24
Solver.h
Virtual base class for optimal alignment solvers (one step in ICP).
mp2p_icp::Solver_GaussNewton::innerLoopVerbose
bool innerLoopVerbose
Prints GN inner loop details.
Definition:
Solver_GaussNewton.h:31
kitti-batch-convert.out
string out
Definition:
kitti-batch-convert.py:7
mp2p_icp::Solver
Definition:
Solver.h:46
mp2p_icp::PairWeights
Definition:
PairWeights.h:26
mp2p_icp::Solver_GaussNewton::impl_optimal_pose
bool impl_optimal_pose(const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc) const override
Definition:
Solver_GaussNewton.cpp:31
mp2p_icp::Solver_GaussNewton::initialize
void initialize(const mrpt::containers::yaml ¶ms) override
Definition:
Solver_GaussNewton.cpp:21
mrpt_local_obstacles
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Mon Aug 14 2023 02:09:04