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buntonj / SFO_CPP

A fast, templated C++ header library for submodular optimization (subset selection) problems.
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Create cost functions for DLIO-M #17

Open buntonj opened 1 year ago

buntonj commented 1 year ago

Develop a reasonable cost function for DLIO-M interface (will need to operate on pointers to point cloud objects, potentially handled in ~ROS2~ ROS Noetic).

buntonj commented 1 year ago

DLIO-M keeps track of int indices for the map point clouds, so we can summarize over those as long as the cost function can dig into the map details to compute overlaps and stuff. Can take some inspiration from their compute_overlap function.

buntonj commented 1 year ago

If I want to exclusively use their compute_overlap function, I need to resort to pair-wise evaluations. Otherwise, I may have to open up the hood of their function a bit more to do overlap computations with larger subsets of point clouds.