struct mola::LidarOdometry::ICP_Input
Overview
struct ICP_Input { // typedefs typedef std::shared_ptr<ICP_Input> Ptr; // fields AlignKind align_kind = AlignKind::RegularOdometry; id_t global_id = mola::INVALID_ID; id_t local_id = mola::INVALID_ID; mp2p_icp::metric_map_t::Ptr global_pc; mp2p_icp::metric_map_t::Ptr local_pc; mrpt::math::TPose3D init_guess_local_wrt_global; mp2p_icp::Parameters icp_params; std::optional<mrpt::poses::CPose3DPDFGaussianInf> prior; std::string debug_str; };
Fields
std::string debug_str
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