gtsam_points::BALMFeature Struct Reference

Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021. More...

#include <balm_feature.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BALMFeature (const std::vector< Eigen::Vector3d > &points)
	Constructor.
template<int k>
Eigen::Matrix< double, 1, 3 >	Ji (const Eigen::Vector3d &p_i) const
	First order derivatives.
template<int k>
Eigen::Matrix3d	Hij (const Eigen::Vector3d &p_i, const Eigen::Vector3d &p_j, bool i_equals_j) const
	Second order derivatives.
template<int m, int n>
Eigen::Matrix< double, 1, 3 >	Fmn (const Eigen::Vector3d &pt) const
	F^{p_j}_{m, n}.

Public Attributes
int	num_points
Eigen::Vector3d	mean
Eigen::Matrix3d	cov
Eigen::Vector3d	eigenvalues
Eigen::Matrix3d	eigenvectors

Detailed Description

Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021.

Constructor & Destructor Documentation

BALMFeature()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW gtsam_points::BALMFeature::BALMFeature ( const std::vector< Eigen::Vector3d > &  points )

inline

Constructor.

Parameters

points

Points in each sensor coordinate (transformed points)

Member Function Documentation

Hij()

template<int k>

Eigen::Matrix3d gtsam_points::BALMFeature::Hij ( const Eigen::Vector3d &  p_i, const Eigen::Vector3d &  p_j, bool  i_equals_j  ) const

inline

Second order derivatives.

Note

Eq. (7)

Ji()

template<int k>

Eigen::Matrix< double, 1, 3 > gtsam_points::BALMFeature::Ji ( const Eigen::Vector3d &  p_i ) const

inline

First order derivatives.

Note

Eq. (6)

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/balm_feature.hpp