Naive point-to-point ICP matching cost factor Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994. More...

#include <integrated_icp_factor.hpp>

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

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

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Public Types
using	shared_ptr = gtsam_points::shared_ptr< IntegratedICPFactor_< PointCloud > >

Public Types inherited from gtsam_points::IntegratedMatchingCostFactor
using	shared_ptr = gtsam_points::shared_ptr< IntegratedMatchingCostFactor >

Public Member Functions
	IntegratedICPFactor_ (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, const std::shared_ptr< const NearestNeighborSearch > &target_tree, bool use_point_to_plane=false)
	Create a binary ICP factor between two poses.

	IntegratedICPFactor_ (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, bool use_point_to_plane=false)
	Create a binary ICP factor between two poses.

	IntegratedICPFactor_ (const gtsam::Pose3 &fixed_target_pose, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, const std::shared_ptr< const NearestNeighborSearch > &target_tree, bool use_point_to_plane=false)
	Create a unary ICP factor between a fixed target pose and an active source pose.

	IntegratedICPFactor_ (const gtsam::Pose3 &fixed_target_pose, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source, bool use_point_to_plane=false)
	Create a unary ICP factor between a fixed target pose and an active source pose.

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
	Calculate the memory usage of this factor.

void	set_num_threads (int n)
	Set the number of thread used for linearization of this factor.

void	set_max_correspondence_distance (double dist)
	Set the maximum distance between corresponding points. Correspondences with distances larger than this will be rejected (i.e., correspondence trimming).

void	set_point_to_plane_distance (bool use)
	Enable or disable point-to-plane distance computation.

void	set_correspondence_update_tolerance (double angle, double trans)
	Correspondences are updated only when the displacement from the last update point is larger than these threshold values.

Public Member Functions inherited from gtsam_points::IntegratedMatchingCostFactor
	IntegratedMatchingCostFactor (gtsam::Key target_key, gtsam::Key source_key)
	Create a binary matching cost factor between target and source poses.

	IntegratedMatchingCostFactor (const gtsam::Pose3 &fixed_target_pose, gtsam::Key source_key)
	Create a unary matching cost factor between a fixed target pose and an active source pose.

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

const Eigen::Isometry3d &	get_fixed_target_pose () const

Eigen::Isometry3d	calc_delta (const gtsam::Values &values) const

Additional Inherited Members
Protected Attributes inherited from gtsam_points::IntegratedMatchingCostFactor
bool	is_binary

Eigen::Isometry3d	fixed_target_pose

Detailed Description

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

Naive point-to-point ICP matching cost factor Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994.

Constructor & Destructor Documentation

◆ IntegratedICPFactor_() [1/2]

template<typename TargetFrame , typename SourceFrame >

gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >::IntegratedICPFactor_	(	gtsam::Key	target_key,
		gtsam::Key	source_key,
		const std::shared_ptr< const TargetFrame > &	target,
		const std::shared_ptr< const SourceFrame > &	source,
		const std::shared_ptr< const NearestNeighborSearch > &	target_tree,
		bool	use_point_to_plane = `false`
	)

Create a binary ICP factor between two poses.

Parameters

target_key	Target key
source_key	Source key
target	Target point cloud frame
source	Source point cloud frame
target_tree	Target nearest neighbor search
use_point_to_plane	If true, use point-to-plane distance instead of point-to-point distance

◆ IntegratedICPFactor_() [2/2]

template<typename TargetFrame , typename SourceFrame >

gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >::IntegratedICPFactor_	(	const gtsam::Pose3 &	fixed_target_pose,
		gtsam::Key	source_key,
		const std::shared_ptr< const TargetFrame > &	target,
		const std::shared_ptr< const SourceFrame > &	source,
		const std::shared_ptr< const NearestNeighborSearch > &	target_tree,
		bool	use_point_to_plane = `false`
	)

Create a unary ICP factor between a fixed target pose and an active source pose.

Parameters

fixed_target_pose	Fixed target pose
source_key	Source key
target	Target point cloud frame
source	Source point cloud frame
target_tree	Target nearest neighbor search
use_point_to_plane	If true, use point-to-plane distance instead of point-to-point distance

Member Function Documentation

◆ memory_usage()

template<typename TargetFrame , typename SourceFrame >

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

overridevirtual

Calculate the memory usage of this factor.

Note: The result is approximate and does not account for objects not owned by this factor (e.g., point clouds)

Returns: Memory usage in bytes (Approximate size in bytes)

Reimplemented from gtsam_points::IntegratedMatchingCostFactor.

◆ print()

template<typename TargetFrame , typename SourceFrame >

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

overridevirtual

Print the factor information.

Reimplemented from gtsam_points::IntegratedMatchingCostFactor.

◆ set_correspondence_update_tolerance()

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

void gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >::set_correspondence_update_tolerance	(	double	angle,
		double	trans
	)

inline

Correspondences are updated only when the displacement from the last update point is larger than these threshold values.

Note: Default values are angle=trans=0 and correspondences are updated every linearization call.

◆ set_num_threads()

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

void gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >::set_num_threads ( int n )

inline

Set the number of thread used for linearization of this factor.

Note: If your GTSAM is built with TBB, linearization is already multi-threaded and setting n>1 can rather affect the processing speed.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/integrated_icp_factor.hpp
/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/integrated_icp_factor_impl.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IntegratedICPFactor_() [1/2]

◆ IntegratedICPFactor_() [2/2]

Member Function Documentation

◆ memory_usage()

◆ print()

◆ set_correspondence_update_tolerance()

◆ set_num_threads()