gtsam_points::EVMBundleAdjustmentFactorBase Class Reference

Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane / edge) More...

#include <bundle_adjustment_factor_evm.hpp>

Inheritance diagram for gtsam_points::EVMBundleAdjustmentFactorBase:

Collaboration diagram for gtsam_points::EVMBundleAdjustmentFactorBase:

Public Types
using	shared_ptr = gtsam_points::shared_ptr< EVMBundleAdjustmentFactorBase >
Public Types inherited from gtsam_points::BundleAdjustmentFactorBase
using	shared_ptr = gtsam_points::shared_ptr< BundleAdjustmentFactorBase >

Public Member Functions
virtual size_t	dim () const override
virtual void	print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	Print the factor information.
virtual void	add (const gtsam::Point3 &pt, const gtsam::Key &key) override
	Assign a point to the factor.
virtual int	num_points () const override
	Number of points assigned to this factor.
virtual void	set_scale (double scale) override
	Set a constant error scaling factor to boost the weight of the factor.

Protected Member Functions
template<int k>
double	calc_eigenvalue (const std::vector< Eigen::Vector3d > &transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const
Eigen::MatrixXd	calc_pose_derivatives (const std::vector< Eigen::Vector3d > &transed_points) const
gtsam::GaussianFactor::shared_ptr	compose_factor (const Eigen::MatrixXd &H, const Eigen::MatrixXd &J, double error) const

Protected Attributes
double	error_scale
std::vector< gtsam::Key >	keys
std::vector< gtsam::Point3 >	points
std::unordered_map< gtsam::Key, int >	key_index

Detailed Description

Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane / edge)

Note

The computation cost grows as the number of points increases Consider averaging points in a same scan in advance (see [Liu 2021])

Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021

Member Function Documentation

add()

virtual void gtsam_points::EVMBundleAdjustmentFactorBase::add ( const gtsam::Point3 &  pt, const gtsam::Key &  key  )

overridevirtual

Assign a point to the factor.

Parameters

pt	Point to be added
key	Key of the pose corresponding to the point

Implements gtsam_points::BundleAdjustmentFactorBase.

num_points()

virtual int gtsam_points::EVMBundleAdjustmentFactorBase::num_points ( ) const

inlineoverridevirtual

Number of points assigned to this factor.

Returns

Number of points

Implements gtsam_points::BundleAdjustmentFactorBase.

print()

virtual void gtsam_points::EVMBundleAdjustmentFactorBase::print ( const std::string &  s = "", const gtsam::KeyFormatter &  keyFormatter = gtsam::DefaultKeyFormatter  ) const

overridevirtual

Print the factor information.

Reimplemented in gtsam_points::PlaneEVMFactor, and gtsam_points::EdgeEVMFactor.

set_scale()

virtual void gtsam_points::EVMBundleAdjustmentFactorBase::set_scale ( double  scale )

overridevirtual

Set a constant error scaling factor to boost the weight of the factor.

Parameters

scale

Error scale

Reimplemented from gtsam_points::BundleAdjustmentFactorBase.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor_evm.hpp