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Merge pull request #24 from koide3/const
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add const to NearestNeighborSearch
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@koide3
koide3 authored Sep 12, 2024
2 parents e1a5407 + 9c2e0c4 commit 51df146
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Showing 11 changed files with 29 additions and 29 deletions.
2 changes: 1 addition & 1 deletion include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp
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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)) {
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2 changes: 1 addition & 1 deletion include/gtsam_points/factors/impl/integrated_ct_icp_factor_impl.hpp
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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),
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4 changes: 2 additions & 2 deletions include/gtsam_points/factors/impl/integrated_gicp_factor_impl.hpp
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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),
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4 changes: 2 additions & 2 deletions include/gtsam_points/factors/impl/integrated_icp_factor_impl.hpp
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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),
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8 changes: 4 additions & 4 deletions include/gtsam_points/factors/impl/integrated_loam_factor_impl.hpp
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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) {
//
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2 changes: 1 addition & 1 deletion include/gtsam_points/factors/integrated_ct_gicp_factor.hpp
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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
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4 changes: 2 additions & 2 deletions include/gtsam_points/factors/integrated_ct_icp_factor.hpp
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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;
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6 changes: 3 additions & 3 deletions include/gtsam_points/factors/integrated_gicp_factor.hpp
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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;
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8 changes: 4 additions & 4 deletions include/gtsam_points/factors/integrated_icp_factor.hpp
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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_(
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12 changes: 6 additions & 6 deletions include/gtsam_points/factors/integrated_loam_factor.hpp
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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
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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

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