mp2p_icp: Humble
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C++ API
Page Hierarchy
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace mp2p_icp
Namespace mrpt
Namespace mrpt::rtti
Namespace mrpt::serialization
Namespace mrpt::system
Classes and Structs
Struct CovarianceParameters
Struct ICP::ICP_State
Struct ICP::IterationHook_Input
Struct ICP::IterationHook_Output
Struct ICP::QualityEvaluatorEntry
Struct LogRecord::DebugInfoPerIteration
Struct MatchContext
Struct matched_line_t
Struct matched_plane_t
Struct Matcher_Points_Base::TransformedLocalPointCloud
Struct MatchState
Struct OptimalTF_GN_Parameters
Struct OptimalTF_Result
Struct OutlierIndices
Struct Pairings
Struct PairWeights
Struct Parameters
Struct point_line_pair_t
Struct QualityEvaluator::Result
Struct Results
Struct SolverContext
Struct VisitCorrespondencesStats
Struct WeightParameters
Class ICP
Class LogRecord
Class Matcher
Class Matcher_Adaptive
Class Matcher_Cov2Cov
Class Matcher_Point2Line
Class Matcher_Point2Plane
Class Matcher_Points_Base
Class Matcher_Points_DistanceThreshold
Class Matcher_Points_InlierRatio
Class QualityEvaluator
Class QualityEvaluator_PairedRatio
Class QualityEvaluator_RangeImageSimilarity
Class QualityEvaluator_Voxels
Class Solver
Class Solver_GaussNewton
Class Solver_Horn
Class Solver_OLAE
Enums
Enum IterTermReason
Enum RobustKernel
Functions
Function mp2p_icp::covariance
Function mp2p_icp::create_robust_kernel
Function mp2p_icp::error_line2line
Function mp2p_icp::error_plane2plane
Function mp2p_icp::error_point2line
Function mp2p_icp::error_point2plane
Function mp2p_icp::error_point2point
Function mp2p_icp::eval_centroids_robust
Function mp2p_icp::icp_pipeline_from_yaml
Function mp2p_icp::operator<<(mrpt::serialization::CArchive&, const Pairings&)
Function mp2p_icp::operator<<(mrpt::serialization::CArchive&, const Results&)
Function mp2p_icp::operator>>(mrpt::serialization::CArchive&, Pairings&)
Function mp2p_icp::operator>>(mrpt::serialization::CArchive&, Results&)
Function mp2p_icp::optimal_tf_gauss_newton
Function mp2p_icp::optimal_tf_horn
Function mp2p_icp::optimal_tf_olae
Function mp2p_icp::pt2ln_pl_to_pt2pt
Function mp2p_icp::run_matchers
Template Function mp2p_icp::visit_correspondences
Function mrpt::serialization::operator<<(mrpt::serialization::CArchive&, const mp2p_icp::LogRecord::DebugInfoPerIteration&)
Function mrpt::serialization::operator<<(CArchive&, const mp2p_icp::point_line_pair_t&)
Function mrpt::serialization::operator<<(CArchive&, const mp2p_icp::point_plane_pair_t&)
Function mrpt::serialization::operator<<(CArchive&, const mp2p_icp::matched_line_t&)
Function mrpt::serialization::operator<<(CArchive&, const mp2p_icp::matched_plane_t&)
Function mrpt::serialization::operator<<(CArchive&, const mp2p_icp::point_with_cov_pair_t&)
Function mrpt::serialization::operator>>(mrpt::serialization::CArchive&, mp2p_icp::LogRecord::DebugInfoPerIteration&)
Function mrpt::serialization::operator>>(CArchive&, mp2p_icp::point_line_pair_t&)
Function mrpt::serialization::operator>>(CArchive&, mp2p_icp::point_plane_pair_t&)
Function mrpt::serialization::operator>>(CArchive&, mp2p_icp::matched_line_t&)
Function mrpt::serialization::operator>>(CArchive&, mp2p_icp::matched_plane_t&)
Function mrpt::serialization::operator>>(CArchive&, mp2p_icp::point_with_cov_pair_t&)
Function MRPT_FILL_ENUM(IterTermReason::Undefined)
Function MRPT_FILL_ENUM(IterTermReason::NoPairings)
Function MRPT_FILL_ENUM(IterTermReason::SolverError)
Function MRPT_FILL_ENUM(IterTermReason::MaxIterations)
Function MRPT_FILL_ENUM(IterTermReason::Stalled)
Function MRPT_FILL_ENUM(IterTermReason::QualityCheckpointFailed)
Function MRPT_FILL_ENUM(IterTermReason::HookRequest)
Function MRPT_FILL_ENUM(RobustKernel::None)
Function MRPT_FILL_ENUM(RobustKernel::GemanMcClure)
Function MRPT_FILL_ENUM(RobustKernel::Cauchy)
Typedefs
Typedef mp2p_icp::MatchedLineList
Typedef mp2p_icp::MatchedPlaneList
Typedef mp2p_icp::MatchedPointLineList
Typedef mp2p_icp::matcher_list_t
Typedef mp2p_icp::robust_sqrt_weight_func_t
Directories
Directory mp2p_icp
Directory include
Directory mp2p_icp
Directory src
Files
File covariance.h
File errorTerms.h
File ICP.h
File icp_pipeline_from_yaml.h
File IterTermReason.h
File LogRecord.h
File Matcher.h
File Matcher_Adaptive.h
File Matcher_Cov2Cov.h
File Matcher_Point2Line.h
File Matcher_Point2Plane.h
File Matcher_Points_Base.h
File Matcher_Points_DistanceThreshold.h
File Matcher_Points_InlierRatio.h
File optimal_tf_gauss_newton.h
File optimal_tf_horn.h
File optimal_tf_olae.h
File OptimalTF_Result.h
File Pairings.h
File PairWeights.h
File Parameters.h
File pt2ln_pl_to_pt2pt.h
File QualityEvaluator.h
File QualityEvaluator_PairedRatio.h
File QualityEvaluator_RangeImageSimilarity.h
File QualityEvaluator_Voxels.h
File Results.h
File robust_kernels.h
File Solver.h
File Solver_GaussNewton.h
File Solver_Horn.h
File Solver_OLAE.h
File visit_correspondences.h
File WeightParameters.h
Pages
Todo List
Standard Documents
README
mp2p_icp
Introduction
Command-Line Applications
Key Features and Components
Multi-Primitive Pairings
PACKAGE
CHANGELOG
Changelog for package mp2p_icp
2.8.1 (2026-04-06)
2.8.0 (2026-04-01)
2.7.1 (2026-03-08)
2.7.0 (2026-03-03)
2.6.0 (2026-02-16)
2.5.0 (2026-02-04)
2.4.1 (2026-01-27)
2.4.0 (2026-01-21)
2.3.1 (2026-01-14)
2.3.0 (2026-01-08)
2.2.1 (2026-01-06)
2.2.0 (2025-12-28)
2.1.2 (2025-11-28)
2.1.1 (2025-11-08)
2.1.0 (2025-10-28)
2.0.0 (2025-10-13)
1.8.0 (2025-08-26)
1.7.1 (2025-06-20)
1.7.0 (2025-06-02)
1.6.7 (2025-04-03)
1.6.6 (2025-02-26)
1.6.5 (2025-01-28)
1.6.4 (2024-12-18)
1.6.3 (2024-11-11)
1.6.2 (2024-09-14)
1.6.1 (2024-09-11)
1.6.0 (2024-09-08)
1.5.6 (2024-09-07)
1.5.5 (2024-08-27)
1.5.4 (2024-08-20)
1.5.3 (2024-08-20)
1.5.2 (2024-07-24)
1.5.1 (2024-07-03)
1.5.0 (2024-06-21)
1.4.3 (2024-06-11)
1.4.2 (2024-05-28)
1.4.1 (2024-05-19)
1.4.0 (2024-05-06)
1.3.3 (2024-04-30)
1.3.2 (2024-04-22)
1.3.1 (2024-04-16)
1.3.0 (2024-03-10)
1.2.0 (2024-02-16)
1.1.1 (2024-02-07)
1.1.0 (2024-01-25)
1.0.0 (2024-01-20)
0.2.2 (2023-09-08)
0.2.1 (2023-09-02)
0.2.0 (2023-08-24)
0.1.0 (2023-06-14)
ROS Package Dependencies
mola_common
mrpt_libbase
mrpt_libobs
mrpt_libposes
mrpt_libmaps
mrpt_libgui
mrpt_libtclap
mola_imu_preintegration
Index
mp2p_icp: Humble
C++ API
Typedef mp2p_icp::robust_sqrt_weight_func_t
View page source
Typedef mp2p_icp::robust_sqrt_weight_func_t
Defined in
File robust_kernels.h
Typedef Documentation
using
mp2p_icp
::
robust_sqrt_weight_func_t
=
std
::
function
<
double
(
double
)
>