gtsam_points::IntegratedMatchingCostFactor Class Reference

Abstraction of LSQ-based scan matching constraints between point clouds. More...

#include <integrated_matching_cost_factor.hpp>

Inheritance diagram for gtsam_points::IntegratedMatchingCostFactor:

Collaboration diagram for gtsam_points::IntegratedMatchingCostFactor:

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

Public Member Functions
	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 void	print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	Print the factor information.
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
virtual size_t	memory_usage () const
	Calculate the memory usage of this factor.
virtual void	update_correspondences (const Eigen::Isometry3d &delta) const =0
	Update point correspondences.
virtual double	evaluate (const Eigen::Isometry3d &delta, Eigen::Matrix< double, 6, 6 > *H_target=nullptr, Eigen::Matrix< double, 6, 6 > *H_source=nullptr, Eigen::Matrix< double, 6, 6 > *H_target_source=nullptr, Eigen::Matrix< double, 6, 1 > *b_target=nullptr, Eigen::Matrix< double, 6, 1 > *b_source=nullptr) const =0
	Evaluate the matching cost.

Protected Attributes
bool	is_binary
Eigen::Isometry3d	fixed_target_pose

Detailed Description

Abstraction of LSQ-based scan matching constraints between point clouds.

Constructor & Destructor Documentation

IntegratedMatchingCostFactor() [1/2]

gtsam_points::IntegratedMatchingCostFactor::IntegratedMatchingCostFactor	(	gtsam::Key	target_key,
		gtsam::Key	source_key
	)

Create a binary matching cost factor between target and source poses.

Parameters

target_key	Target key
source_key	Source key

IntegratedMatchingCostFactor() [2/2]

gtsam_points::IntegratedMatchingCostFactor::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.

Parameters

fixed_target_pose	Fixed target pose
source_key	Source key

Member Function Documentation

error()

virtual double gtsam_points::IntegratedMatchingCostFactor::error ( const gtsam::Values &  values ) const

overridevirtual

Note

The following error and linearize methods are not thread-safe, because we need to update correspondences (that may be mutable members) for every linearization

evaluate()

virtual double gtsam_points::IntegratedMatchingCostFactor::evaluate ( const Eigen::Isometry3d &  delta, Eigen::Matrix< double, 6, 6 > *  H_target = nullptr, Eigen::Matrix< double, 6, 6 > *  H_source = nullptr, Eigen::Matrix< double, 6, 6 > *  H_target_source = nullptr, Eigen::Matrix< double, 6, 1 > *  b_target = nullptr, Eigen::Matrix< double, 6, 1 > *  b_source = nullptr  ) const

pure virtual

Evaluate the matching cost.

Parameters

delta	Transformation between target and source (i.e., T_target_source)
H_target	Hessian (target x target)
H_source	Hessian (source x source)
H_target_source	Hessian (target x source)
b_target	Error vector (target)
b_source	Error vector (source)

memory_usage()

virtual size_t gtsam_points::IntegratedMatchingCostFactor::memory_usage ( ) const

virtual

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 in gtsam_points::IntegratedColorConsistencyFactor_< TargetFrame, SourceFrame, IntensityGradients >, gtsam_points::IntegratedColoredGICPFactor_< TargetFrame, SourceFrame, IntensityGradients >, gtsam_points::IntegratedGICPFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedICPFactor_< gtsam_points::PointCloud, gtsam_points::PointCloud >, gtsam_points::IntegratedLOAMFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedPointToPlaneFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedPointToEdgeFactor_< TargetFrame, SourceFrame >, and gtsam_points::IntegratedVGICPFactor_< SourceFrame >.

print()

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

overridevirtual

Print the factor information.

Reimplemented in gtsam_points::IntegratedColorConsistencyFactor_< TargetFrame, SourceFrame, IntensityGradients >, gtsam_points::IntegratedColoredGICPFactor_< TargetFrame, SourceFrame, IntensityGradients >, gtsam_points::IntegratedGICPFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedICPFactor_< gtsam_points::PointCloud, gtsam_points::PointCloud >, gtsam_points::IntegratedLOAMFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedPointToPlaneFactor_< TargetFrame, SourceFrame >, gtsam_points::IntegratedPointToEdgeFactor_< TargetFrame, SourceFrame >, and gtsam_points::IntegratedVGICPFactor_< SourceFrame >.

update_correspondences()

virtual void gtsam_points::IntegratedMatchingCostFactor::update_correspondences ( const Eigen::Isometry3d &  delta ) const

pure virtual

Update point correspondences.

Parameters

delta

Transformation between target and source (i.e., T_target_source)

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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/integrated_matching_cost_factor.hpp