Point-to-plane ICP factor. More...
#include <integrated_icp_factor.hpp>
Inheritance diagram for gtsam_points::IntegratedPointToPlaneICPFactor_< TargetFrame, SourceFrame >:
Collaboration diagram for gtsam_points::IntegratedPointToPlaneICPFactor_< TargetFrame, SourceFrame >:
Public Types | |
| using | shared_ptr = gtsam_points::shared_ptr< IntegratedPointToPlaneICPFactor_< TargetFrame, SourceFrame > > |
 Public Types inherited from gtsam_points::IntegratedICPFactor_< TargetFrame, SourceFrame > | |
| 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 | |
| IntegratedPointToPlaneICPFactor_ (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) | |
| IntegratedPointToPlaneICPFactor_ (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr< const TargetFrame > &target, const std::shared_ptr< const SourceFrame > &source) | |
| Public Member Functions inherited from 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. | |
| 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::IntegratedPointToPlaneICPFactor_< TargetFrame, SourceFrame >
class gtsam_points::IntegratedPointToPlaneICPFactor_< TargetFrame, SourceFrame >
Point-to-plane ICP factor.
The documentation for this class was generated from the following file:
- /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/integrated_icp_factor.hpp
