Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021. More...

#include <integrated_vgicp_factor.hpp>

Inheritance diagram for gtsam_points::IntegratedVGICPFactor_< SourceFrame >:

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Collaboration diagram for gtsam_points::IntegratedVGICPFactor_< SourceFrame >:

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

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

Public Member Functions
	IntegratedVGICPFactor_ (gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &target_voxels, const std::shared_ptr< const SourceFrame > &source)
	Create a binary VGICP factor between target and source poses.

	IntegratedVGICPFactor_ (const gtsam::Pose3 &fixed_target_pose, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &target_voxels, const std::shared_ptr< const SourceFrame > &source)
	Create a unary VGICP 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_fused_cov_cache_mode (FusedCovCacheMode mode)
	Set the cache mode for fused covariance matrices (i.e., mahalanobis).

int	num_inliers () const
	Get the number of inlier points.

double	inlier_fraction () const
	Compute the fraction of inlier points that have correspondences fell in a voxel.

const std::shared_ptr< const GaussianVoxelMapCPU > &	get_target () const
	Get the target voxelmap.

gtsam::NonlinearFactor::shared_ptr	clone () const override

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 SourceFrame = gtsam_points::PointCloud>
class gtsam_points::IntegratedVGICPFactor_< SourceFrame >

Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021.

Constructor & Destructor Documentation

◆ IntegratedVGICPFactor_() [1/2]

template<typename SourceFrame >

gtsam_points::IntegratedVGICPFactor_< SourceFrame >::IntegratedVGICPFactor_	(	gtsam::Key	target_key,
		gtsam::Key	source_key,
		const GaussianVoxelMap::ConstPtr &	target_voxels,
		const std::shared_ptr< const SourceFrame > &	source
	)

Create a binary VGICP factor between target and source poses.

Parameters

target_key	Target key
source_key	Source key
target_voxels	Target voxelmap
source	Source point cloud frame

◆ IntegratedVGICPFactor_() [2/2]

template<typename SourceFrame >

gtsam_points::IntegratedVGICPFactor_< SourceFrame >::IntegratedVGICPFactor_	(	const gtsam::Pose3 &	fixed_target_pose,
		gtsam::Key	source_key,
		const GaussianVoxelMap::ConstPtr &	target_voxels,
		const std::shared_ptr< const SourceFrame > &	source
	)

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

Parameters

fixed_target_pose	Fixed target pose
source_key	Source key
target	Target voxelized point cloud frame
source	Source point cloud frame

Member Function Documentation

◆ inlier_fraction()

template<typename SourceFrame = gtsam_points::PointCloud>

double gtsam_points::IntegratedVGICPFactor_< SourceFrame >::inlier_fraction ( ) const

inline

Compute the fraction of inlier points that have correspondences fell in a voxel.

Note: This function must be called after the factor is linearized.

◆ memory_usage()

template<typename SourceFrame >

size_t gtsam_points::IntegratedVGICPFactor_< 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.

◆ num_inliers()

template<typename SourceFrame = gtsam_points::PointCloud>

int gtsam_points::IntegratedVGICPFactor_< SourceFrame >::num_inliers ( ) const

inline

Get the number of inlier points.

Note: This function must be called after the factor is linearized.

◆ print()

template<typename SourceFrame >

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

overridevirtual

Print the factor information.

Reimplemented from gtsam_points::IntegratedMatchingCostFactor.

◆ set_num_threads()

template<typename SourceFrame = gtsam_points::PointCloud>

void gtsam_points::IntegratedVGICPFactor_< 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_vgicp_factor.hpp
/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/integrated_vgicp_factor_impl.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IntegratedVGICPFactor_() [1/2]

◆ IntegratedVGICPFactor_() [2/2]

Member Function Documentation

◆ inlier_fraction()

◆ memory_usage()

◆ num_inliers()

◆ print()

◆ set_num_threads()