enum mp2p_icp::RobustKernel

Overview

Type to select a robust kernel. More…

#include <robust_kernels.h>

enum RobustKernel
{
    None         = 0,
    GemanMcClure,
    Cauchy,
};

Detailed Documentation

Type to select a robust kernel. Support mrpt::typemeta::TEnumType to get/set from strings.

Enum Values

None

None: plain least-squares.

GemanMcClure

Generalized GemanMcClure kernel (Zhang97ivc, Agarwal15phd).

Cauchy

Cauchy kernel (Lee2013IROS).