factor choose when the measurement(m) is changed at each iteration

[albert_xu]

I want to implement ICP in gtsam ,but when I have no idea as the measurement is always changed with hypothesis in ExpressionFactor .

Actually, I want to perform the algorithm in which ,the measurement is always changed with hypothesis because I have known the alignment(hypothesis--measurement) in each iterate.I don’t know which type factor I can choose?

Thank you for your help, waiting~~

[Dellaert, Frank]

Your post is a bit confusingly worded, so I have no idea what you mean, but​ there already is a fast, closed form Pose3::Align that does the alignment step for ICP. Similarly, for Sim3, BTW 😉

FD

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From: gtsam...@googlegroups.com <gtsam...@googlegroups.com> on behalf of albert_xu <xsx...@gmail.com>
Sent: Thursday, February 18, 2021 20:30
To: gtsam users <gtsam...@googlegroups.com>
Subject: [GTSAM] factor choose when the measurement(m) is changed at each iteration

 

I want to implement ICP in gtsam ,but when I have no idea as the measurement is always changed with hypothesis in ExpressionFactor .

Actually, I want to perform the algorithm in which ,the measurement is always changed with hypothesis because I have known the alignment(hypothesis--measurement) in each iterate.I don’t know which type factor I can choose?

Thank you for your help, waiting~~

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[albert_xu]

Sorry. What I want to expressed is that I want to use factor to set up a constraint ,but I don't know choose which factors that have defined in gtsam. In this code ,I used ExpressionFactor ,but I found in this function, the second parameter(measurement) needs to be fixed. But I want to this parameter can be changed  in graph at every iteration(update). These are my main puzzle.  I perform ICP in gstam, as alignment in it is dynamic.