GaussNewton optimizer. More...

#include <optimizer.hpp>

Public Member Functions
	GaussNewtonOptimizer ()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename TerminationCriteria , typename Reduction , typename Factor , typename GeneralFactor >
RegistrationResult	optimize (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const TerminationCriteria &criteria, Reduction &reduction, const Eigen::Isometry3d &init_T, std::vector< Factor > &factors, GeneralFactor &general_factor) const

Public Attributes
bool	verbose
	If true, print debug messages. More...

int	max_iterations
	Max number of optimization iterations. More...

double	lambda
	Damping factor (Increasing this makes optimization slow but stable) More...

Detailed Description

GaussNewton optimizer.

Constructor & Destructor Documentation

◆ GaussNewtonOptimizer()

small_gicp::GaussNewtonOptimizer::GaussNewtonOptimizer ( )

inline

Member Function Documentation

◆ optimize()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename TerminationCriteria , typename Reduction , typename Factor , typename GeneralFactor >

RegistrationResult small_gicp::GaussNewtonOptimizer::optimize	(	const TargetPointCloud &	target,
		const SourcePointCloud &	source,
		const TargetTree &	target_tree,
		const CorrespondenceRejector &	rejector,
		const TerminationCriteria &	criteria,
		Reduction &	reduction,
		const Eigen::Isometry3d &	init_T,
		std::vector< Factor > &	factors,
		GeneralFactor &	general_factor
	)		const

inline

Member Data Documentation

◆ lambda

double small_gicp::GaussNewtonOptimizer::lambda

Damping factor (Increasing this makes optimization slow but stable)

◆ max_iterations

int small_gicp::GaussNewtonOptimizer::max_iterations

Max number of optimization iterations.

◆ verbose

bool small_gicp::GaussNewtonOptimizer::verbose

If true, print debug messages.

The documentation for this struct was generated from the following file:

/home/runner/work/small_gicp/small_gicp/include/small_gicp/registration/optimizer.hpp

Public Member Functions

Public Attributes