struct mola::LidarOdometry::ICP_Input

Overview

struct ICP_Input
{
    // typedefs

    typedef std::shared_ptr<ICP_Input> Ptr;

    // fields

    mrpt::poses::CPose3D last_keyframe_pose;
    std::optional<mrpt::poses::CPose3DPDFGaussianInf> prior;
    id_t global_id = mola::INVALID_ID;
    id_t local_id = mola::INVALID_ID;
    double time_since_last_keyframe = 0;
    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;
    AlignKind align_kind = AlignKind::RegularOdometry;
};