integrated_ct_gicp_factor.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <gtsam_points/util/gtsam_migration.hpp>
#include <gtsam_points/factors/integrated_ct_icp_factor.hpp>
 
namespace gtsam_points {
 
template <typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud>
class IntegratedCT_GICPFactor_ : public IntegratedCT_ICPFactor_<TargetFrame, SourceFrame> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using shared_ptr = gtsam_points::shared_ptr<IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>>;
 
  IntegratedCT_GICPFactor_(
    gtsam::Key source_t0_key,
    gtsam::Key source_t1_key,
    const std::shared_ptr<const TargetFrame>& target,
    const std::shared_ptr<const SourceFrame>& source,
    const std::shared_ptr<const NearestNeighborSearch>& target_tree);
 
  IntegratedCT_GICPFactor_(
    gtsam::Key source_t0_key,
    gtsam::Key source_t1_key,
    const std::shared_ptr<const TargetFrame>& target,
    const std::shared_ptr<const SourceFrame>& source);
 
  virtual ~IntegratedCT_GICPFactor_() override;
 
  virtual void print(const std::string& s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;
 
  virtual size_t memory_usage() const override;
 
  virtual double error(const gtsam::Values& values) const override;
  virtual gtsam::GaussianFactor::shared_ptr linearize(const gtsam::Values& values) const override;
 
protected:
  virtual void update_correspondences() const override;
 
  mutable std::vector<Eigen::Matrix4d> mahalanobis;
};
 
using IntegratedCT_GICPFactor = IntegratedCT_GICPFactor_<>;
 
}  // namespace gtsam_points