Continuous Time ICP with GICP's D2D cost Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 Segal et al., "Generalized-ICP", RSS2005. More...

#include <integrated_ct_gicp_factor.hpp>

Inheritance diagram for gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >:

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Collaboration diagram for gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >:

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Public Types
using	shared_ptr = gtsam_points::shared_ptr< IntegratedCT_GICPFactor_< TargetFrame, SourceFrame > >

Public Types inherited from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >
using	shared_ptr = gtsam_points::shared_ptr< IntegratedCT_ICPFactor_< TargetFrame, SourceFrame > >

Public Member Functions
	IntegratedCT_GICPFactor_ (gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, const std::shared_ptr< const NearestNeighborSearch > &target_tree)
	Constructor.

	IntegratedCT_GICPFactor_ (gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source)
	Constructor.

virtual void	print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	Print the factor information.

virtual size_t	memory_usage () const override

virtual double	error (const gtsam::Values &values) const override

virtual gtsam::GaussianFactor::shared_ptr	linearize (const gtsam::Values &values) const override

Public Member Functions inherited from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >
	IntegratedCT_ICPFactor_ (gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, const std::shared_ptr< const NearestNeighborSearch > &target_tree)
	Constructor.

	IntegratedCT_ICPFactor_ (gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source)
	Constructor.

virtual size_t	dim () const override

void	set_num_threads (int n)

void	set_max_correspondence_distance (double dist)

const std::vector< double > &	get_time_table () const

const std::vector< int > &	get_time_indices () const

const std::vector< gtsam::Pose3 > &	get_source_poses () const

std::vector< Eigen::Vector4d >	deskewed_source_points (const gtsam::Values &values, bool local=false)

virtual void	update_poses (const gtsam::Values &values) const

Protected Member Functions
virtual void	update_correspondences () const override

Protected Attributes
std::vector< Eigen::Matrix4d >	mahalanobis

Protected Attributes inherited from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >
int	num_threads

double	max_correspondence_distance_sq

std::shared_ptr< const NearestNeighborSearch >	target_tree

std::vector< double >	time_table

std::vector< gtsam::Pose3 >	source_poses

std::vector< gtsam::Matrix6 >	pose_derivatives_t0

std::vector< gtsam::Matrix6 >	pose_derivatives_t1

std::vector< int >	time_indices

std::vector< long >	correspondences

std::shared_ptr< const TargetFrame >	target

std::shared_ptr< const SourceFrame >	source

Detailed Description

template<typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud>
class gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >

Continuous Time ICP with GICP's D2D cost Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 Segal et al., "Generalized-ICP", RSS2005.

Constructor & Destructor Documentation

◆ IntegratedCT_GICPFactor_() [1/2]

template<typename TargetFrame , typename SourceFrame >

gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::IntegratedCT_GICPFactor_	(	gtsam::Key	source_t0_key,
		gtsam::Key	source_t1_key,
		const std::shared_ptr< const TargetFrame > &	target,
		const std::shared_ptr< const SourceFrame > &	source,
		const std::shared_ptr< const NearestNeighborSearch > &	target_tree
	)

Constructor.

Parameters

source_t0_key	Key of the source pose at the beginning of the scan
source_t1_key	Key of the source pose at the end of the scan
target	Target point cloud
source	Source point cloud
target_tree	NN search for the target point cloud

◆ IntegratedCT_GICPFactor_() [2/2]

template<typename TargetFrame , typename SourceFrame >

gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::IntegratedCT_GICPFactor_	(	gtsam::Key	source_t0_key,
		gtsam::Key	source_t1_key,
		const std::shared_ptr< const TargetFrame > &	target,
		const std::shared_ptr< const SourceFrame > &	source
	)

Constructor.

Parameters

source_t0_key	Key of the source pose at the beginning of the scan
source_t1_key	Key of the source pose at the end of the scan
target	Target point cloud
source	Source point cloud

Member Function Documentation

◆ error()

template<typename TargetFrame , typename SourceFrame >

double gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::error ( const gtsam::Values & values ) const

overridevirtual

Reimplemented from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >.

◆ linearize()

template<typename TargetFrame , typename SourceFrame >

gtsam::GaussianFactor::shared_ptr gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::linearize ( const gtsam::Values & values ) const

overridevirtual

Reimplemented from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >.

◆ memory_usage()

template<typename TargetFrame , typename SourceFrame >

size_t gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::memory_usage ( ) const

overridevirtual

Reimplemented from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >.

◆ print()

template<typename TargetFrame , typename SourceFrame >

void gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::print	(	const std::string &	s = `""`,
		const gtsam::KeyFormatter &	keyFormatter = `gtsam::DefaultKeyFormatter`
	)		const

overridevirtual

Print the factor information.

Reimplemented from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >.

◆ update_correspondences()

template<typename TargetFrame , typename SourceFrame >

void gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >::update_correspondences ( ) const

overrideprotectedvirtual

Reimplemented from gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame >.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/integrated_ct_gicp_factor.hpp
/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IntegratedCT_GICPFactor_() [1/2]

◆ IntegratedCT_GICPFactor_() [2/2]

Member Function Documentation

◆ error()

◆ linearize()

◆ memory_usage()

◆ print()

◆ update_correspondences()