gtsam_points::IntegratedCT_ICPFactor_< TargetFrame, SourceFrame > Class Template Reference

Continuous Time ICP Factor Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021. More...

#include <integrated_ct_icp_factor.hpp>

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

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

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

Public Member Functions
	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 void	print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	Print the factor information.
virtual size_t	memory_usage () const
virtual size_t	dim () const override
virtual double	error (const gtsam::Values &values) const override
virtual gtsam::GaussianFactor::shared_ptr	linearize (const gtsam::Values &values) 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

Protected Attributes
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_ICPFactor_< TargetFrame, SourceFrame >

Continuous Time ICP Factor Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021.

Constructor & Destructor Documentation

IntegratedCT_ICPFactor_() [1/2]

template<typename TargetFrame , typename SourceFrame >

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.

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_ICPFactor_() [2/2]

template<typename TargetFrame , typename SourceFrame >

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
	)

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

print()

template<typename TargetFrame , typename SourceFrame >

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

overridevirtual

Print the factor information.

Reimplemented in gtsam_points::IntegratedCT_GICPFactor_< TargetFrame, SourceFrame >.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/integrated_ct_icp_factor.hpp
• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/integrated_ct_icp_factor_impl.hpp