Bundle adjustment factor based on EVM and EF optimal condition satisfaction. More...

Inheritance diagram for gtsam_points::LsqBundleAdjustmentFactor:

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Collaboration diagram for gtsam_points::LsqBundleAdjustmentFactor:

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

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

Public Member Functions
virtual void	print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	Print the factor information.

virtual size_t	dim () const override

virtual double	error (const gtsam::Values &c) const override

virtual gtsam::GaussianFactor::shared_ptr	linearize (const gtsam::Values &c) const override

virtual void	add (const gtsam::Point3 &pt, const gtsam::Key &key) override
	Assign a point to the factor.

virtual int	num_points () const override
	Number of points assigned to the factor.

Public Member Functions inherited from gtsam_points::BundleAdjustmentFactorBase
virtual void	set_scale (double scale)
	Set a constant error scale to boost the weight of the constraint.

Protected Attributes
std::unordered_map< gtsam::Key, std::shared_ptr< FrameDistribution > >	frame_dists

int	global_num_points

Eigen::Vector3d	global_mean

Eigen::Matrix3d	global_cov

Eigen::Vector3d	global_normal

Detailed Description

Bundle adjustment factor based on EVM and EF optimal condition satisfaction.

Note: The evaluation cost of this factor depends on the number of frames and is independent of the number of points; This factor requires a better initial guess compared to EVM-based one because the global normal not included in the optimization

Huang et al, "On Bundle Adjustment for Multiview Point Cloud Registration", IEEE RA-L, 2021

Member Function Documentation

virtual void gtsam_points::LsqBundleAdjustmentFactor::add	(	const gtsam::Point3 &	pt,
		const gtsam::Key &	key
	)

overridevirtual

Assign a point to the factor.

Parameters

pt	Point
key	Key of the frame corresponding to the point

virtual int gtsam_points::LsqBundleAdjustmentFactor::num_points ( ) const

inlineoverridevirtual

Number of points assigned to the factor.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor_lsq.hpp