Comments (4)
Sorry, I have been apart from g2o for a few years, and I'm not sure the exact way to implement the proposed approach with g2o. But, in my case with GTSAM, I implemented a custom GICP registration error factor with gtsam::NonlinearFactor
that returns a linearized objective function as gtsam::HessianFactor
. The following page explains in detail what do H, b, c
(corresponding to G, g, f
) in the HessianFactor
represent. I hope this helps you.
https://gtsam.org/doxygen/a03764.html
from caratheodory2.
Thank you for your answer. You means that I will create a GicpFactor
class inherited from gtsam::NonlinearFactor
and modify the linearize and error method and returns a gtsam::HessianFactor
with H, b, c calculated within the error function (GICP score).
Do I need to modify the error method in GicpFactor or inheritance from gtsam::NonlinearFactor?
H corresponds to G, b corresponds to g, and c corresponds to f.
Looking forward to hearing from you soon. Thank you very much.
from caratheodory2.
You are almost correct. You need to GICPFactor
that is derived from gtsam::NonlinearFactor
. That factor class should override gtsam::NonlinearFactor::linearize
to return a gtsam::HessianFactor
. Because GICPFactor
involves two pose variables, you would need to use this HessianFactor constructor. H, b, and c respectively correspond to G, g, f.
https://gtsam.org/doxygen/a03764.html#abb07c3bd55ff688700f82f6024bdf9f0
from caratheodory2.
Thank you, I understand. However, to ensure the idea, I want to confirm the following two questions:
- Do H, b, c in
GICPFactor::linearize
represent H, b, c after applying GICP to two point clouds (final iteration) or not? (Could you please explain this question to me clearly?) GICPFactor::error
will be computed as follows, right?0.5∗x′Gx−x′∗g+0.5∗f
Looking forward to hearing from you soon. Thank you very much.
from caratheodory2.
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from caratheodory2.