#include <EigenFactorPlaneCoordinatesAlign.hpp>
Inheritance diagram for mrob::EigenFactorPlaneCoordinatesAlign:
Collaboration diagram for mrob::EigenFactorPlaneCoordinatesAlign:
Public Member Functions | |
| EigenFactorPlaneCoordinatesAlign (Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| void | evaluate_residuals () override |
| void | evaluate_jacobians () override |
| void | evaluate_chi2 () override |
 Public Member Functions inherited from mrob::EigenFactorPlaneCenter | |
| EigenFactorPlaneCenter (Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| Public Member Functions inherited from mrob::EigenFactorPlane | |
| EigenFactorPlane (Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| void | print () const |
| MatRefConst | get_obs () const |
| VectRefConst | get_residual () const |
| MatRefConst | get_information_matrix () const |
| MatRefConst | get_jacobian ([[maybe_unused]] mrob::factor_id_t id=0) const override |
| MatRefConst | get_hessian (mrob::factor_id_t id=0) const override |
| VectRefConst | get_state (void) const override |
| void | add_point (const Mat31 &p, std::shared_ptr< Node > &node, matData_t &W) override |
| void | add_points_array (const MatX &P, std::shared_ptr< Node > &node, mrob::matData_t &W) override |
| void | add_points_S_matrix (const Mat4 &S, std::shared_ptr< Node > &node, mrob::matData_t &W) override |
| Mat31 | get_mean_point (factor_id_t id) |
| Public Member Functions inherited from mrob::EigenFactor | |
| EigenFactor (robustFactorType factor_type=QUADRATIC, uint_t potNumberNodes=5) | |
| Public Member Functions inherited from mrob::Factor | |
| Factor (uint_t dim, uint_t allNodesDim, robustFactorType factor_type=QUADRATIC, uint_t potNumberNodes=5) | |
| matData_t | get_chi2 () const |
| factor_id_t | get_id () const |
| void | set_id (factor_id_t id) |
| uint_t | get_dim_obs () const |
| void | set_dim_obs (uint_t dim) |
| uint_t | get_all_nodes_dim () const |
| void | set_all_nodes_dim (uint_t dim) |
| const std::vector< std::shared_ptr< Node > > * | get_neighbour_nodes (void) const |
| matData_t | evaluate_robust_weight (matData_t u, matData_t params=0.0) |
Protected Member Functions | |
| Mat31 | get_estimate_normal () const |
| Mat31 | get_estimate_mean () const |
| void | estimate_planes_at_poses () |
| Protected Member Functions inherited from mrob::EigenFactorPlaneCenter | |
| void | estimate_plane () override |
| Protected Member Functions inherited from mrob::EigenFactorPlane | |
| void | calculate_all_matrices_S () |
| void | calculate_all_matrices_Q () |
Protected Attributes | |
| std::deque< matData_t > | lambda_1_ |
| std::deque< matData_t > | lambda_2_ |
| std::deque< matData_t > | r1_ |
| std::deque< matData_t > | r2_ |
| std::deque< matData_t > | r3_ |
| std::deque< matData_t > | n_points_ |
| std::deque< Mat31, Eigen::aligned_allocator< Mat31 > > | v1_ |
| std::deque< Mat31, Eigen::aligned_allocator< Mat31 > > | v2_ |
| Protected Attributes inherited from mrob::EigenFactorPlaneCenter | |
| Mat4 | accumulatedCenterQ_ |
| Mat41 | planeEstimationUnit_ |
| Mat4 | Tcenter_ |
| Protected Attributes inherited from mrob::EigenFactorPlane | |
| std::deque< factor_id_t > | nodeIds_ |
| std::unordered_map< factor_id_t, uint_t > | reverseNodeIds_ |
| std::deque< Mat61, Eigen::aligned_allocator< Mat61 > > | J_ |
| std::deque< Mat6, Eigen::aligned_allocator< Mat6 > > | H_ |
| std::deque< Mat4, Eigen::aligned_allocator< Mat4 > > | S_ |
| std::deque< Mat4, Eigen::aligned_allocator< Mat4 > > | Q_ |
| Mat4 | accumulatedQ_ |
| Mat41 | planeEstimation_ |
| Mat41 | planeEstimationCenter_ |
| std::deque< std::deque< Mat31, Eigen::aligned_allocator< Mat31 > > > | allPlanePoints_ |
| std::deque< std::deque< matData_t > > | allPointsInformation_ |
| uint_t | numberPoints_ |
| matData_t | planeError_ |
| Mat4 | Tcenter_ |
| Protected Attributes inherited from mrob::Factor | |
| factor_id_t | id_ |
| std::vector< std::shared_ptr< Node > > | neighbourNodes_ |
| uint_t | dim_ |
| uint_t | allNodesDim_ |
| matData_t | chi2_ |
| robustFactorType | robust_type_ |
| matData_t | robust_weight_ |
Additional Inherited Members | |
| Public Types inherited from mrob::Factor | |
| enum | robustFactorType { QUADRATIC = 0, HUBER, CAUCHY, MCCLURE, RANSAC } |
Detailed Description
This is an implementation of the Plane Coordinates Align (BA,multiPC) from Huang RAL2021
It requires the estimation of planes from one side and then the matching of these parameters with the accumulated matrix S. The EF strucutre is very convenient to use here
Constructor & Destructor Documentation
◆ EigenFactorPlaneCoordinatesAlign()
| EigenFactorPlaneCoordinatesAlign::EigenFactorPlaneCoordinatesAlign | ( | Factor::robustFactorType | robust_type = Factor::robustFactorType::QUADRATIC | ) |
Creates an Eigen Factor plane. The minimum requirements are 1 pose, which is not required at this stage, but will be introduced when we add points/Q matrix.
Member Function Documentation
◆ evaluate_chi2()
|
overridevirtual |
Chi2 is a scaling of the plane error from lambda_min
Reimplemented from mrob::EigenFactorPlaneCenter.
◆ evaluate_jacobians()
|
overridevirtual |
Evaluates Jacobians, given the residual evaluated It also evaluated the Hessians
Reimplemented from mrob::EigenFactorPlaneCenter.
◆ evaluate_residuals()
|
overridevirtual |
Jacobians are not evaluated, just the residuals. This function is calculating the current plane estimation
Reimplemented from mrob::EigenFactorPlaneCenter.
The documentation for this class was generated from the following files:
- src/plane-surfaces/mrob/factors/EigenFactorPlaneCoordinatesAlign.hpp
- src/plane-surfaces/factors/EigenFactorPlaneCoordinatesAlign.cpp
