#include <types_icp.h>

Inheritance diagram for g2o::Edge_V_V_GICP:

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Collaboration diagram for g2o::Edge_V_V_GICP:

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Public Member Functions
	Edge_V_V_GICP ()
	Edge_V_V_GICP (const Edge_V_V_GICP *e)
virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual bool	write (std::ostream &os) const
	write the vertex to a stream
void	computeError ()
virtual void	linearizeOplus ()
Public Member Functions inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
	BaseBinaryEdge ()
Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)
void	linearizeOplusN ()
void	linearizeOplusNs (std::index_sequence< Ints... >)
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const
const VertexXnType< VertexN > *	vertexXn () const
	BaseFixedSizedEdge ()
OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType
virtual void	resize (size_t size)
virtual bool	allVerticesFixed () const
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)
const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const
virtual void	constructQuadraticForm ()
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
Public Member Functions inherited from g2o::BaseEdge< D, EdgeGICP >
	BaseEdge ()
BaseEdge &	operator= (const BaseEdge &)=delete
virtual	~BaseEdge ()
virtual double	chi2 () const
virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;
const ErrorVector &	error () const
EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint
void	setInformation (const InformationType &information)
virtual const double *	informationData () const
EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge
virtual void	setMeasurement (const Measurement &m)
virtual int	rank () const
virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
std::enable_if< Dim==-1, void >::type	setDimension (int dim)
Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()
virtual	~Edge ()
virtual bool	setMeasurementData (const double *m)
virtual bool	getMeasurementData (double *m) const
virtual int	measurementDimension () const
virtual bool	setMeasurementFromState ()
RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel
void	setRobustKernel (RobustKernel *ptr)
virtual double *	errorData ()=0
virtual double *	informationData ()=0
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
int	level () const
	returns the level of the edge
void	setLevel (int l)
	sets the level of the edge
int	dimension () const
	returns the dimensions of the error function
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())
virtual Vertex *	createVertex (int)
long long	internalId () const
	the internal ID of the edge
OptimizableGraph *	graph ()
const OptimizableGraph *	graph () const
bool	setParameterId (int argNum, int paramId)
const Parameter *	parameter (int argNo) const
size_t	numParameters () const
void	resizeParameters (size_t newSize)
Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices
const VertexContainer &	vertices () const
VertexContainer &	vertices ()
const Vertex *	vertex (size_t i) const
Vertex *	vertex (size_t i)
void	setVertex (size_t i, Vertex *v)
int	id () const
void	setId (int id)
virtual HyperGraphElementType	elementType () const
int	numUndefinedVertices () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()
virtual	~DataContainer ()
const Data *	userData () const
	the user data associated with this vertex
Data *	userData ()
void	setUserData (Data *obs)
void	addUserData (Data *obs)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
bool	pl_pl
Matrix3	cov0
Matrix3	cov1

Static Public Attributes
static Matrix3	dRidx
static Matrix3	dRidy
static Matrix3	dRidz
Static Public Attributes inherited from g2o::BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >
static const int	Dimension
static const std::size_t	_nr_of_vertices
static const std::size_t	_nr_of_vertex_pairs
Static Public Attributes inherited from g2o::BaseEdge< D, EdgeGICP >
static constexpr int	Dimension

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
using	VertexXiType
using	VertexXjType
Public Types inherited from g2o::BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >
using	NthType
using	VertexXnType
	The type of the N-th vertex.
typedef BaseEdge< D, EdgeGICP >::Measurement	Measurement
typedef BaseEdge< D, EdgeGICP >::ErrorVector	ErrorVector
typedef BaseEdge< D, EdgeGICP >::InformationType	InformationType
using	JacobianType
using	HessianBlockType
	it requires quite some ugly code to get the type of hessians...
using	HessianBlockTypeK
using	HessianBlockTypeKTransposed
using	HessianTuple
using	HessianTupleTransposed
using	HessianRowMajorStorage
Public Types inherited from g2o::BaseEdge< D, EdgeGICP >
typedef EdgeGICP	Measurement
typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector
typedef internal::BaseEdgeTraits< D >::InformationType	InformationType
Static Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.
Protected Member Functions inherited from g2o::BaseEdge< D, EdgeGICP >
InformationType	robustInformation (const Vector3 &rho) const
bool	writeInformationMatrix (std::ostream &os) const
	write the upper trinagular part of the information matrix into the stream
bool	readInformationMatrix (std::istream &is)
bool	writeParamIds (std::ostream &os) const
	write the param IDs that are potentially used by the edge
bool	readParamIds (std::istream &is)
	reads the param IDs from the stream
Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType>
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)
template<typename CacheType>
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)
bool	resolveParameters ()
virtual bool	resolveCaches ()
Protected Attributes inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >::template JacobianType< D, VertexSE3::Dimension > &	_jacobianOplusXi
BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >::template JacobianType< D, VertexSE3::Dimension > &	_jacobianOplusXj
Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >
HessianRowMajorStorage	_hessianRowMajor
HessianTuple	_hessianTuple
HessianTupleTransposed	_hessianTupleTransposed
std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus
Protected Attributes inherited from g2o::BaseEdge< D, EdgeGICP >
Measurement	_measurement
	the measurement of the edge
InformationType	_information
ErrorVector	_error
Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension
int	_level
RobustKernel *	_robustKernel
long long	_internalId
std::vector< int >	_cacheIds
std::vector< std::string >	_parameterTypes
std::vector< Parameter ** >	_parameters
std::vector< int >	_parameterIds
Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices
int	_id
	unique id
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Definition at line 143 of file types_icp.h.

Constructor & Destructor Documentation

◆ Edge_V_V_GICP() [1/2]

g2o::Edge_V_V_GICP::Edge_V_V_GICP ( )

inline

Definition at line 147 of file types_icp.h.

147: pl_pl(false) {}

g2o::Edge_V_V_GICP::pl_pl

bool pl_pl

Definition types_icp.h:151

References pl_pl.

Referenced by Edge_V_V_GICP().

◆ Edge_V_V_GICP() [2/2]

g2o::Edge_V_V_GICP::Edge_V_V_GICP ( const Edge_V_V_GICP * e )

Definition at line 73 of file types_icp.cpp.

    : BaseBinaryEdge<3, EdgeGICP, VertexSE3, VertexSE3>() {
  // Temporary hack - TODO, sort out const-ness properly
  _vertices[0] = const_cast<HyperGraph::Vertex*>(e->vertex(0));
  _vertices[1] = const_cast<HyperGraph::Vertex*>(e->vertex(1));
 
  _measurement.pos0 = e->measurement().pos0;
  _measurement.pos1 = e->measurement().pos1;
  _measurement.normal0 = e->measurement().normal0;
  _measurement.normal1 = e->measurement().normal1;
  _measurement.R0 = e->measurement().R0;
  _measurement.R1 = e->measurement().R1;
 
  pl_pl = e->pl_pl;
  cov0 = e->cov0;
  cov1 = e->cov1;
 
  // TODO the robust kernel is not correctly copied
  //_robustKernel = e->_robustKernel;
}

References g2o::BaseEdge< D, EdgeGICP >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >::BaseBinaryEdge(), cov0, cov1, Edge_V_V_GICP(), g2o::BaseEdge< D, E >::measurement(), pl_pl, and g2o::HyperGraph::Edge::vertex().

Member Function Documentation

◆ computeError()

void g2o::Edge_V_V_GICP::computeError ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 159 of file types_icp.h.

                      {
    // from <ViewPoint> to <Point>
    const VertexSE3* vp0 = static_cast<const VertexSE3*>(_vertices[0]);
    const VertexSE3* vp1 = static_cast<const VertexSE3*>(_vertices[1]);
 
    // get vp1 point into vp0 frame
    // could be more efficient if we computed this transform just once
    Vector3 p1;
 
#if 0
      if (_cnum >= 0 && 0)      // using global cache
        {
          if (_tainted[_cnum])  // set up transform
            {
              _transforms[_cnum] = vp0->estimate().inverse() * vp1->estimate();
              _tainted[_cnum] = 0;
              cout << _transforms[_cnum] << endl;
            }
          p1 = _transforms[_cnum].map(measurement().pos1); // do the transform
        }
      else
#endif
    {
      p1 = vp1->estimate() * measurement().pos1;
      p1 = vp0->estimate().inverse() * p1;
    }
 
    //      cout << endl << "Error computation; points are: " << endl;
    //      cout << p0.transpose() << endl;
    //      cout << p1.transpose() << endl;
 
    // get their difference
    // this is simple Euclidean distance, for now
    _error = p1 - measurement().pos0;
 
#if 0
      cout << "vp0" << endl << vp0->estimate() << endl;
      cout << "vp1" << endl << vp1->estimate() << endl;
      cout << "e Jac Xj" << endl <<  _jacobianOplusXj << endl << endl;
      cout << "e Jac Xi" << endl << _jacobianOplusXi << endl << endl;
#endif
 
    if (!pl_pl) return;
 
    // re-define the information matrix
    // topLeftCorner<3,3>() is the rotation()
    const Matrix3 transform = (vp0->estimate().inverse() * vp1->estimate())
                                  .matrix()
                                  .topLeftCorner<3, 3>();
    information() = (cov0 + transform * cov1 * transform.transpose()).inverse();
  }

References g2o::BaseEdge< D, EdgeGICP >::_error, g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, cov0, cov1, g2o::BaseVertex< D, T >::estimate(), g2o::BaseEdge< D, EdgeGICP >::information(), g2o::BaseEdge< D, EdgeGICP >::measurement(), pl_pl, and transform().

◆ linearizeOplus()

void g2o::Edge_V_V_GICP::linearizeOplus ( )

virtual

Definition at line 145 of file types_icp.cpp.

                                   {
  VertexSE3* vp0 = static_cast<VertexSE3*>(_vertices[0]);
  VertexSE3* vp1 = static_cast<VertexSE3*>(_vertices[1]);
 
  // topLeftCorner<3,3>() is the rotation matrix
  Matrix3 R0T = vp0->estimate().matrix().topLeftCorner<3, 3>().transpose();
  Vector3 p1 = measurement().pos1;
 
  // this could be more efficient
  if (!vp0->fixed()) {
    Isometry3 T01 = vp0->estimate().inverse() * vp1->estimate();
    Vector3 p1t = T01 * p1;
    _jacobianOplusXi.block<3, 3>(0, 0) = -Matrix3::Identity();
    _jacobianOplusXi.block<3, 1>(0, 3) = dRidx * p1t;
    _jacobianOplusXi.block<3, 1>(0, 4) = dRidy * p1t;
    _jacobianOplusXi.block<3, 1>(0, 5) = dRidz * p1t;
  }
 
  if (!vp1->fixed()) {
    Matrix3 R1 = vp1->estimate().matrix().topLeftCorner<3, 3>();
    R0T = R0T * R1;
    _jacobianOplusXj.block<3, 3>(0, 0) = R0T;
    _jacobianOplusXj.block<3, 1>(0, 3) = R0T * dRidx.transpose() * p1;
    _jacobianOplusXj.block<3, 1>(0, 4) = R0T * dRidy.transpose() * p1;
    _jacobianOplusXj.block<3, 1>(0, 5) = R0T * dRidz.transpose() * p1;
  }
}

References g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, dRidx, dRidy, dRidz, g2o::BaseVertex< D, T >::estimate(), g2o::OptimizableGraph::Vertex::fixed(), g2o::BaseEdge< D, EdgeGICP >::measurement(), and g2o::EdgeGICP::pos1.

◆ read()

bool g2o::Edge_V_V_GICP::read ( std::istream & is )

virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 104 of file types_icp.cpp.

                                       {
  // measured point and normal
  for (int i = 0; i < 3; i++) is >> _measurement.pos0[i];
  for (int i = 0; i < 3; i++) is >> _measurement.normal0[i];
 
  // measured point and normal
  for (int i = 0; i < 3; i++) is >> _measurement.pos1[i];
  for (int i = 0; i < 3; i++) is >> _measurement.normal1[i];
 
  // don't need this if we don't use it in error calculation (???)
  //    inverseMeasurement() = -measurement();
 
  _measurement.makeRot0();  // set up rotation matrices
 
  // GICP info matrices
 
  // point-plane only
  Matrix3 prec;
  double v = cst(.01);
  prec << v, 0, 0, 0, v, 0, 0, 0, 1;
  const Matrix3& R = measurement().R0;  // plane of the point in vp0
  information() = R.transpose() * prec * R;
 
  //    information().setIdentity();
 
  //    setRobustKernel(true);
  // setHuberWidth(0.01);      // units? m?
 
  return true;
}

References g2o::BaseEdge< D, EdgeGICP >::_measurement, g2o::cst(), g2o::BaseEdge< D, EdgeGICP >::information(), g2o::BaseEdge< D, EdgeGICP >::measurement(), and g2o::EdgeGICP::R0.

◆ write()

bool g2o::Edge_V_V_GICP::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 174 of file types_icp.cpp.

                                              {
  // first point
  for (int i = 0; i < 3; i++) os << measurement().pos0[i] << " ";
  for (int i = 0; i < 3; i++) os << measurement().normal0[i] << " ";
 
  // second point
  for (int i = 0; i < 3; i++) os << measurement().pos1[i] << " ";
  for (int i = 0; i < 3; i++) os << measurement().normal1[i] << " ";
 
  return os.good();
}

References g2o::BaseEdge< D, EdgeGICP >::measurement(), g2o::EdgeGICP::normal0, g2o::EdgeGICP::normal1, g2o::EdgeGICP::pos0, and g2o::EdgeGICP::pos1.

Member Data Documentation

◆ cov0

Matrix3 g2o::Edge_V_V_GICP::cov0

Definition at line 152 of file types_icp.h.

Referenced by computeError(), and Edge_V_V_GICP().

◆ cov1

Matrix3 g2o::Edge_V_V_GICP::cov1

Definition at line 152 of file types_icp.h.

Referenced by computeError(), and Edge_V_V_GICP().

◆ dRidx

Matrix3 g2o::Edge_V_V_GICP::dRidx

static

Definition at line 217 of file types_icp.h.

Referenced by g2o::types_icp::init(), and linearizeOplus().

◆ dRidy

Matrix3 g2o::Edge_V_V_GICP::dRidy

static

Definition at line 218 of file types_icp.h.

Referenced by g2o::types_icp::init(), and linearizeOplus().

◆ dRidz

Matrix3 g2o::Edge_V_V_GICP::dRidz

static

Definition at line 219 of file types_icp.h.

Referenced by g2o::types_icp::init(), and linearizeOplus().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::Edge_V_V_GICP::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 146 of file types_icp.h.

◆ pl_pl

bool g2o::Edge_V_V_GICP::pl_pl

Definition at line 151 of file types_icp.h.

Referenced by computeError(), Edge_V_V_GICP(), and Edge_V_V_GICP().

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

/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h
/build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Edge_V_V_GICP() [1/2]

◆ Edge_V_V_GICP() [2/2]

Member Function Documentation

◆ computeError()

◆ linearizeOplus()

◆ read()

◆ write()

Member Data Documentation

◆ cov0

◆ cov1

◆ dRidx

◆ dRidy

◆ dRidz

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

◆ pl_pl