#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 More...

virtual bool	write (std::ostream &os) const
	write the vertex to a stream More...

void	computeError ()

virtual void	linearizeOplus ()

Public Member Functions inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
	BaseBinaryEdge ()

virtual OptimizableGraph::Vertex *	createFrom ()

virtual OptimizableGraph::Vertex *	createTo ()

virtual OptimizableGraph::Vertex *	createVertex (int i)

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

const JacobianXjOplusType &	jacobianOplusXj () const
	returns the result of the linearization in the manifold space for the node xj More...

virtual void	constructQuadraticForm ()

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

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

virtual	~BaseEdge ()

virtual double	chi2 () const
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

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

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

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

EIGEN_STRONG_INLINE InformationType &	information ()

EIGEN_STRONG_INLINE void	setInformation (const InformationType &information)

virtual const double *	informationData () const
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD> More...

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge More...

virtual void	setMeasurement (const Measurement &m)

virtual int	rank () const

virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)

Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()

virtual	~Edge ()

virtual Edge *	clone () const

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 More...

void	setRobustKernel (RobustKernel *ptr)

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

int	level () const
	returns the level of the edge More...

void	setLevel (int l)
	sets the level of the edge More...

int	dimension () const
	returns the dimensions of the error function More...

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

long long	internalId () const
	the internal ID of the edge More...

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 More...

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 ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

bool	pl_pl

Matrix3D	cov0

Matrix3D	cov1

Static Public Attributes
static Matrix3D	dRidx

static Matrix3D	dRidy

static Matrix3D	dRidz

Static Public Attributes inherited from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >
static const int	Di

static const int	Dj

static const int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, EdgeGICP >
static const int	Dimension

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

typedef VertexSE3	VertexXjType

typedef BaseEdge< D, EdgeGICP >::Measurement	Measurement

typedef Eigen::Matrix< double, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXiOplusType

typedef Eigen::Matrix< double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXjOplusType

typedef BaseEdge< D, EdgeGICP >::ErrorVector	ErrorVector

typedef BaseEdge< D, EdgeGICP >::InformationType	InformationType

typedef Eigen::Map< Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

typedef Eigen::Map< Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockTransposedType

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

typedef Eigen::Matrix< double, D, 1, Eigen::ColMajor >	ErrorVector

typedef Eigen::Matrix< double, D, D, Eigen::ColMajor >	InformationType

Protected Member Functions inherited from g2o::BaseEdge< D, EdgeGICP >
InformationType	robustInformation (const Vector3D &rho)

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 >
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, EdgeGICP >
Measurement	_measurement

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 More...

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Definition at line 164 of file types_icp.h.

Constructor & Destructor Documentation

g2o::Edge_V_V_GICP::Edge_V_V_GICP ( )

inline

Definition at line 168 of file types_icp.h.

168 : pl_pl(false) {}

g2o::Edge_V_V_GICP::pl_pl

bool pl_pl

Definition: types_icp.h:172

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

Definition at line 93 of file types_icp.cpp.

References g2o::BaseEdge< D, EdgeGICP >::_measurement, g2o::HyperGraph::Edge::_vertices, cov0, cov1, g2o::BaseEdge< D, E >::measurement(), g2o::EdgeGICP::normal0, g2o::EdgeGICP::normal1, pl_pl, g2o::EdgeGICP::pos0, g2o::EdgeGICP::pos1, g2o::EdgeGICP::R0, g2o::EdgeGICP::R1, and g2o::HyperGraph::Edge::vertex().

     : 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;
   }

Member Function Documentation

void g2o::Edge_V_V_GICP::computeError ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 180 of file types_icp.h.

References g2o::BaseVertex< D, T >::estimate(), and transform().

     {
       // 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
       Vector3D 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 Matrix3D transform = ( vp0->estimate().inverse() *  vp1->estimate() ).matrix().topLeftCorner<3,3>();
       information() = ( cov0 + transform * cov1 * transform.transpose() ).inverse();
 
     }

void g2o::Edge_V_V_GICP::linearizeOplus ( )

virtual

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

Reimplemented from g2o::BaseBinaryEdge< 3, EdgeGICP, VertexSE3, VertexSE3 >.

Definition at line 175 of file types_icp.cpp.

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.

   {
     VertexSE3* vp0 = static_cast<VertexSE3*>(_vertices[0]);
     VertexSE3* vp1 = static_cast<VertexSE3*>(_vertices[1]);
 
     // topLeftCorner<3,3>() is the rotation matrix
     Matrix3D R0T = vp0->estimate().matrix().topLeftCorner<3,3>().transpose();
     Vector3D p1 = measurement().pos1;
 
     // this could be more efficient
     if (!vp0->fixed())
       {
         Isometry3D T01 = vp0->estimate().inverse() *  vp1->estimate();
         Vector3D p1t = T01 * p1;
         _jacobianOplusXi.block<3,3>(0,0) = -Matrix3D::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())
       {
         Matrix3D 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;
       }
   }

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 126 of file types_icp.cpp.

References g2o::BaseEdge< D, EdgeGICP >::_measurement, g2o::BaseEdge< D, EdgeGICP >::information(), g2o::EdgeGICP::makeRot0(), g2o::BaseEdge< D, EdgeGICP >::measurement(), g2o::EdgeGICP::normal0, g2o::EdgeGICP::normal1, g2o::EdgeGICP::pos0, g2o::EdgeGICP::pos1, and g2o::EdgeGICP::R0.

   {
     // 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
     Matrix3D prec;
     double v = .01;
     prec << v, 0, 0,
             0, v, 0,
             0, 0, 1;
     const Matrix3D &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;
   }

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 208 of file types_icp.cpp.

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

   {
     // 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();
   }