Scan matching factor based on the combination of point-to-plane and point-to-edge distances. More...

#include <integrated_loam_factor.hpp>

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

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

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

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

Public Member Functions
	IntegratedLOAMFactor_ (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target_edges, const std::shared_ptr< const TargetFrame > &target_planes, const std::shared_ptr< const SourceFrame > &source_edges, const std::shared_ptr< const SourceFrame > &source_planes, const std::shared_ptr< const NearestNeighborSearch > &target_edges_tree, const std::shared_ptr< const NearestNeighborSearch > &target_planes_tree)

	IntegratedLOAMFactor_ (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target_edges, const std::shared_ptr< const TargetFrame > &target_planes, const std::shared_ptr< const SourceFrame > &source_edges, const std::shared_ptr< const SourceFrame > &source_planes)

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)

void	set_max_correspondence_distance (double dist_edge, double dist_plane)

void	set_correspondence_update_tolerance (double angle, double trans)

void	set_enable_correspondence_validation (bool enable)

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

Protected Member Functions
virtual void	validate_correspondences () 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::IntegratedLOAMFactor_< TargetFrame, SourceFrame >

Scan matching factor based on the combination of point-to-plane and point-to-edge distances.

Zhang and Singh, "Low-drift and real-time lidar odometry and mapping", Autonomous Robots, 2017 Zhang and Singh, "LOAM: LiDAR Odometry and Mapping in Real-time", RSS2014 Tixiao and Brendan, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain", IROS2018

Member Function Documentation

◆ memory_usage()

template<typename TargetFrame , typename SourceFrame >

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

overridevirtual

Print the factor information.

Reimplemented from gtsam_points::IntegratedMatchingCostFactor.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/integrated_loam_factor.hpp
/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/integrated_loam_factor_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ memory_usage()

◆ print()