struct mp2p_icp::OptimalTF_GN_Parameters¶
Overview¶
#include <optimal_tf_gauss_newton.h> struct OptimalTF_GN_Parameters { // fields bool verbose = false; uint32_t maxInnerLoopIterations = 6; double minDelta = 1e-7; double maxCost = 0; std::optional<mrpt::poses::CPose3D> linearizationPoint; PairWeights pairWeights; };
Detailed Documentation¶
Fields¶
uint32_t maxInnerLoopIterations = 6
Maximum number of iterations trying to solve for the optimal pose
double minDelta = 1e-7
Minimum SE(3) change to stop iterating.
double maxCost = 0
Maximum cost function; when reached, stop iterating.
std::optional<mrpt::poses::CPose3D> linearizationPoint
The linerization point (the current relative pose guess)