struct mola::LidarOdometry::ICP_Input

Overview

#include <LidarOdometry.h>

struct ICP_Input
{
    // typedefs

    typedef std::shared_ptr<ICP_Input> Ptr;

    // fields

    AlignKind align_kind {AlignKind::LidarOdometry};
    id_t to_id {mola::INVALID_ID};
    id_t from_id {mola::INVALID_ID};
    mp2p_icp::metric_map_t::Ptr to_pc;
    mp2p_icp::metric_map_t::Ptr from_pc;
    mrpt::math::TPose3D init_guess_to_wrt_from;
    mp2p_icp::Parameters icp_params;
    std::string debug_str;
};

Detailed Documentation

Fields

std::string debug_str

used to identity where does this request come from