Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add const to NearestNeighborSearch #24

Merged
merged 2 commits into from
Sep 12, 2024
Merged

add const to NearestNeighborSearch #24

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e434e0d
add const to NearestNeighborSearch
koide3 Aug 29, 2024
9c2e0c4
static
koide3 Aug 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>::IntegratedCT_GICPFactor_(
gtsam::Key source_t1_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: IntegratedCT_ICPFactor_<TargetFrame, SourceFrame>(source_t0_key, source_t1_key, target, source, target_tree) {
//
if (!frame::has_points(*target) || !frame::has_covs(*target)) {
Expand Down
2 changes: 1 addition & 1 deletion include/gtsam_points/factors/impl/integrated_ct_icp_factor_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ IntegratedCT_ICPFactor_<TargetFrame, SourceFrame>::IntegratedCT_ICPFactor_(
gtsam::Key source_t1_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: gtsam::NonlinearFactor(gtsam::KeyVector{source_t0_key, source_t1_key}),
num_threads(1),
max_correspondence_distance_sq(1.0),
Expand Down
4 changes: 2 additions & 2 deletions include/gtsam_points/factors/impl/integrated_gicp_factor_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ IntegratedGICPFactor_<TargetFrame, SourceFrame>::IntegratedGICPFactor_(
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),
num_threads(1),
max_correspondence_distance_sq(1.0),
Expand Down Expand Up @@ -56,7 +56,7 @@ IntegratedGICPFactor_<TargetFrame, SourceFrame>::IntegratedGICPFactor_(
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: gtsam_points::IntegratedMatchingCostFactor(fixed_target_pose, source_key),
num_threads(1),
max_correspondence_distance_sq(1.0),
Expand Down
4 changes: 2 additions & 2 deletions include/gtsam_points/factors/impl/integrated_icp_factor_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ IntegratedICPFactor_<TargetFrame, SourceFrame>::IntegratedICPFactor_(
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_tree,
bool use_point_to_plane)
: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),
num_threads(1),
Expand Down Expand Up @@ -60,7 +60,7 @@ IntegratedICPFactor_<TargetFrame, SourceFrame>::IntegratedICPFactor_(
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_tree,
bool use_point_to_plane)
: gtsam_points::IntegratedMatchingCostFactor(fixed_target_pose, source_key),
num_threads(1),
Expand Down
8 changes: 4 additions & 4 deletions include/gtsam_points/factors/impl/integrated_loam_factor_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ IntegratedPointToPlaneFactor_<TargetFrame, SourceFrame>::IntegratedPointToPlaneF
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),
num_threads(1),
max_correspondence_distance_sq(1.0),
Expand Down Expand Up @@ -185,7 +185,7 @@ IntegratedPointToEdgeFactor_<TargetFrame, SourceFrame>::IntegratedPointToEdgeFac
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),
num_threads(1),
max_correspondence_distance_sq(1.0),
Expand Down Expand Up @@ -358,8 +358,8 @@ IntegratedLOAMFactor_<TargetFrame, SourceFrame>::IntegratedLOAMFactor_(
const std::shared_ptr<const TargetFrame>& target_planes,
const std::shared_ptr<const SourceFrame>& source_edges,
const std::shared_ptr<const SourceFrame>& source_planes,
const std::shared_ptr<NearestNeighborSearch>& target_edges_tree,
const std::shared_ptr<NearestNeighborSearch>& target_planes_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_edges_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_planes_tree)
: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),
enable_correspondence_validation(false) {
//
Expand Down
2 changes: 1 addition & 1 deletion include/gtsam_points/factors/integrated_ct_gicp_factor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ class IntegratedCT_GICPFactor_ : public IntegratedCT_ICPFactor_<TargetFrame, Sou
gtsam::Key source_t1_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

/**
* @brief Constructor
Expand Down
4 changes: 2 additions & 2 deletions include/gtsam_points/factors/integrated_ct_icp_factor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ class IntegratedCT_ICPFactor_ : public gtsam::NonlinearFactor {
gtsam::Key source_t1_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

/**
* @brief Constructor
Expand Down Expand Up @@ -75,7 +75,7 @@ class IntegratedCT_ICPFactor_ : public gtsam::NonlinearFactor {
int num_threads;
double max_correspondence_distance_sq;

std::shared_ptr<NearestNeighborSearch> target_tree;
std::shared_ptr<const NearestNeighborSearch> target_tree;

std::vector<double> time_table;
mutable std::vector<gtsam::Pose3> source_poses;
Expand Down
6 changes: 3 additions & 3 deletions include/gtsam_points/factors/integrated_gicp_factor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ class IntegratedGICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

///< Create a binary ICP factor between target and source poses.
IntegratedGICPFactor_(
Expand All @@ -58,7 +58,7 @@ class IntegratedGICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

///< Create a unary GICP factor between a fixed target pose and an active source pose.
IntegratedGICPFactor_(
Expand Down Expand Up @@ -107,7 +107,7 @@ class IntegratedGICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor
int num_threads;
double max_correspondence_distance_sq;

std::shared_ptr<NearestNeighborSearch> target_tree;
std::shared_ptr<const NearestNeighborSearch> target_tree;

// I'm unhappy to have mutable members...
double correspondence_update_tolerance_rot;
Expand Down
8 changes: 4 additions & 4 deletions include/gtsam_points/factors/integrated_icp_factor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ class IntegratedICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor {
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_tree,
bool use_point_to_plane = false);

/// Create a binary ICP factor between two poses.
Expand All @@ -62,7 +62,7 @@ class IntegratedICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor {
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_tree,
bool use_point_to_plane = false);

/// Create a unary ICP factor between a fixed target pose and an active source pose.
Expand Down Expand Up @@ -110,7 +110,7 @@ class IntegratedICPFactor_ : public gtsam_points::IntegratedMatchingCostFactor {
double max_correspondence_distance_sq;
bool use_point_to_plane;

std::shared_ptr<NearestNeighborSearch> target_tree;
std::shared_ptr<const NearestNeighborSearch> target_tree;

// I'm unhappy to have mutable members...
double correspondence_update_tolerance_rot;
Expand All @@ -135,7 +135,7 @@ class IntegratedPointToPlaneICPFactor_ : public gtsam_points::IntegratedICPFacto
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree)
const std::shared_ptr<const NearestNeighborSearch>& target_tree)
: IntegratedICPFactor_<TargetFrame, SourceFrame>(target_key, source_key, target, source, target_tree, true) {}

IntegratedPointToPlaneICPFactor_(
Expand Down
12 changes: 6 additions & 6 deletions include/gtsam_points/factors/integrated_loam_factor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ class IntegratedLOAMFactor_ : public gtsam_points::IntegratedMatchingCostFactor
const std::shared_ptr<const TargetFrame>& target_planes,
const std::shared_ptr<const SourceFrame>& source_edges,
const std::shared_ptr<const SourceFrame>& source_planes,
const std::shared_ptr<NearestNeighborSearch>& target_edges_tree,
const std::shared_ptr<NearestNeighborSearch>& target_planes_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_edges_tree,
const std::shared_ptr<const NearestNeighborSearch>& target_planes_tree);

IntegratedLOAMFactor_(
gtsam::Key target_key,
Expand Down Expand Up @@ -95,7 +95,7 @@ class IntegratedPointToPlaneFactor_ : public gtsam_points::IntegratedMatchingCos
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

IntegratedPointToPlaneFactor_(
gtsam::Key target_key,
Expand Down Expand Up @@ -127,7 +127,7 @@ class IntegratedPointToPlaneFactor_ : public gtsam_points::IntegratedMatchingCos
int num_threads;
double max_correspondence_distance_sq;

std::shared_ptr<NearestNeighborSearch> target_tree;
std::shared_ptr<const NearestNeighborSearch> target_tree;

// I'm unhappy to have mutable members...
double correspondence_update_tolerance_rot;
Expand All @@ -153,7 +153,7 @@ class IntegratedPointToEdgeFactor_ : public gtsam_points::IntegratedMatchingCost
gtsam::Key source_key,
const std::shared_ptr<const TargetFrame>& target,
const std::shared_ptr<const SourceFrame>& source,
const std::shared_ptr<NearestNeighborSearch>& target_tree);
const std::shared_ptr<const NearestNeighborSearch>& target_tree);

IntegratedPointToEdgeFactor_(
gtsam::Key target_key,
Expand Down Expand Up @@ -185,7 +185,7 @@ class IntegratedPointToEdgeFactor_ : public gtsam_points::IntegratedMatchingCost
int num_threads;
double max_correspondence_distance_sq;

std::shared_ptr<NearestNeighborSearch> target_tree;
std::shared_ptr<const NearestNeighborSearch> target_tree;

// I'm unhappy to have mutable members...
double correspondence_update_tolerance_rot;
Expand Down
6 changes: 3 additions & 3 deletions include/gtsam_points/util/read_points.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@

namespace gtsam_points {

std::vector<float> read_times(const std::string& path) {
static std::vector<float> read_times(const std::string& path) {
std::ifstream ifs(path, std::ios::binary | std::ios::ate);
if (!ifs) {
std::cerr << "error: failed to open " << path << std::endl;
Expand All @@ -27,7 +27,7 @@ std::vector<float> read_times(const std::string& path) {
return times;
}

std::vector<Eigen::Vector3f> read_points(const std::string& path) {
static std::vector<Eigen::Vector3f> read_points(const std::string& path) {
std::ifstream ifs(path, std::ios::binary | std::ios::ate);
if (!ifs) {
std::cerr << "error: failed to open " << path << std::endl;
Expand All @@ -44,7 +44,7 @@ std::vector<Eigen::Vector3f> read_points(const std::string& path) {
return points;
}

std::vector<Eigen::Vector4f> read_points4(const std::string& path) {
static std::vector<Eigen::Vector4f> read_points4(const std::string& path) {
std::ifstream ifs(path, std::ios::binary | std::ios::ate);
if (!ifs) {
std::cerr << "error: failed to open " << path << std::endl;
Expand Down
Loading