#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, E, VertexTypes >
template<int VertexN>
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const

template<int VertexN>
std::enable_if< VertexXnType< VertexN >::Dimension==-1, int >::type	vertexDimension () const

template<int VertexN>
const VertexXnType< VertexN > *	vertexXn () const

template<int VertexN>
VertexXnType< VertexN > *	vertexXn ()

	BaseFixedSizedEdge ()

template<typename... CtorArgs>
OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType

virtual void	resize (size_t size)

template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)

template<int N>
void	linearizeOplusN ()

template<int N>
const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const

template<int N>
std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn ()

virtual void	constructQuadraticForm ()

template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)

template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

template<int N>
void	linearizeOplusN ()

template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)

Public Member Functions inherited from g2o::BaseEdge< D, E >
	BaseEdge ()

BaseEdge &	operator= (const BaseEdge &)=delete

	BaseEdge (const BaseEdge &)=delete

virtual	~BaseEdge ()

virtual double	chi2 () const

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint

EIGEN_STRONG_INLINE InformationType &	information ()

void	setInformation (const InformationType &information)

virtual const double *	informationData () const

virtual double *	informationData ()

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 *)

template<int Dim = D>
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	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, E, VertexTypes >
static const int	Dimension = BaseEdge<D, E>::Dimension

static const std::size_t	_nr_of_vertices = sizeof...(VertexTypes)

static const std::size_t	_nr_of_vertex_pairs

Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
using	VertexXiType = VertexSE3

using	VertexXjType = VertexSE3

Public Types inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
template<int N, typename... Types>
using	NthType = typename std::tuple_element< N, std::tuple< Types... > >::type

template<int VertexN>
using	VertexXnType = NthType< VertexN, VertexTypes... >
	The type of the N-th vertex.

typedef BaseEdge< D, E >::Measurement	Measurement

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

template<int EdgeDimension, int VertexDimension>
using	JacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, EdgeDimension==1 ? Eigen::RowMajor :Eigen::ColMajor >::AlignedMapType

template<int DN, int DM>
using	HessianBlockType = Eigen::Map< Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >, Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >
	it requires quite some ugly code to get the type of hessians...

template<int K>
using	HessianBlockTypeK = HessianBlockType< VertexXnType< internal::index_to_pair(K).first >::Dimension, VertexXnType< internal::index_to_pair(K).second >::Dimension >

template<int K>
using	HessianBlockTypeKTransposed = HessianBlockType< VertexXnType< internal::index_to_pair(K).second >::Dimension, VertexXnType< internal::index_to_pair(K).first >::Dimension >

using	HessianTuple = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::type

using	HessianTupleTransposed = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::typeTransposed

using	HessianRowMajorStorage = std::array< bool, _nr_of_vertex_pairs >

Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement

typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector

typedef internal::BaseEdgeTraits< D >::InformationType	InformationType

Static Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
template<int VertexN>
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.

Protected Member Functions inherited from g2o::BaseEdge< D, E >
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, VertexXi::Dimension > &	_jacobianOplusXi

BaseFixedSizedEdge< D, EdgeGICP, VertexSE3, VertexSE3 >::template JacobianType< D, VertexXj::Dimension > &	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
HessianRowMajorStorage	_hessianRowMajor

HessianTuple	_hessianTuple

HessianTupleTransposed	_hessianTupleTransposed

std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus

Protected Attributes inherited from g2o::BaseEdge< D, E >
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

◆ 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, E >::_measurement, g2o::HyperGraph::Edge::_vertices, cov0, cov1, 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::BaseVertex< D, T >::estimate(), and transform().

◆ linearizeOplus()

void g2o::Edge_V_V_GICP::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplus

Reimplemented from g2o::BaseFixedSizedEdge< D, E, VertexTypes >.

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(), and g2o::BaseEdge< D, E >::measurement().

◆ 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, E >::_measurement, g2o::cst(), g2o::BaseEdge< D, E >::information(), and g2o::BaseEdge< D, E >::measurement().

◆ 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, E >::measurement().

Member Data Documentation

◆ cov0

Matrix3 g2o::Edge_V_V_GICP::cov0

Definition at line 152 of file types_icp.h.

Referenced by Edge_V_V_GICP().

◆ cov1

Matrix3 g2o::Edge_V_V_GICP::cov1

Definition at line 152 of file types_icp.h.

Referenced by 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 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