apply_loss_function:false# DOC If the factors created by the processor have loss function. - TYPE bool
state_provider:false# DOC If the processor is used by the problem as provider of state. - TYPE bool
state_provider_order:0# MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same order number. - TYPE unsigned int
dimension:2# DOC The dimension of the problem representation: 2D or 3D - TYPE unsigned int - OPTIONS [2, 3]
initial_guess:"odom"# DOC The initial guess of the tranformation given to ICP algorithm. It can be "zero" for zero initial guess, "odom" will compute the initial guess from the odometry sources and "state" will compute it from the state of the optimization. Recommended: "odom" (if there are other odometry sources). - TYPE string - OPTIONS [odom, state, zero]
icp:
verbose:false# DOC prints debug messages - TYPE bool
