SLACOptimizer.cpp File Reference

#include "cloudViewer/t/pipelines/slac/SLACOptimizer.h"
#include <FileSystem.h>
#include "cloudViewer/core/EigenConverter.h"
#include "cloudViewer/core/TensorCheck.h"
#include "cloudViewer/core/nns/NearestNeighborSearch.h"
#include "cloudViewer/io/PointCloudIO.h"
#include "cloudViewer/t/pipelines/slac/FillInLinearSystemImpl.h"

Include dependency graph for SLACOptimizer.cpp:

Go to the source code of this file.

Namespaces
	cloudViewer
	Generic file read and write utility for python interface.
	cloudViewer::t
	cloudViewer::t::pipelines
	cloudViewer::t::pipelines::slac

Functions
static std::vector< std::string >	cloudViewer::t::pipelines::slac::PreprocessPointClouds (const std::vector< std::string > &fnames, const SLACOptimizerParams &params)
static core::Tensor	cloudViewer::t::pipelines::slac::ConvertCorrespondencesTargetIndexedToCx2Form (const core::Tensor &target_correspondences)
static core::Tensor	cloudViewer::t::pipelines::slac::GetCorrespondenceSetForPointCloudPair (int i, int j, PointCloud &tpcd_i, PointCloud &tpcd_j, const core::Tensor &T_i, const core::Tensor &T_j, const core::Tensor &T_ij, float distance_threshold, float fitness_threshold, bool debug)
void	cloudViewer::t::pipelines::slac::SaveCorrespondencesForPointClouds (const std::vector< std::string > &fnames_processed, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Read pose graph containing loop closures and odometry to compute putative correspondences between pairs of pointclouds. More...
static void	cloudViewer::t::pipelines::slac::InitializeControlGrid (ControlGrid &ctr_grid, const std::vector< std::string > &fnames)
static void	cloudViewer::t::pipelines::slac::UpdatePoses (PoseGraph &fragment_pose_graph, core::Tensor &delta)
static void	cloudViewer::t::pipelines::slac::UpdateControlGrid (ControlGrid &ctr_grid, core::Tensor &delta)
std::pair< PoseGraph, ControlGrid >	cloudViewer::t::pipelines::slac::RunSLACOptimizerForFragments (const std::vector< std::string > &fragment_filenames, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras, CVPR 2014 Qian-Yi Zhou and Vladlen Koltun Estimate a shared control grid for all fragments for scene reconstruction, implemented in https://github.com/qianyizh/ElasticReconstruction. More...
PoseGraph	cloudViewer::t::pipelines::slac::RunRigidOptimizerForFragments (const std::vector< std::string > &fragment_filenames, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Extended ICP to simultaneously align multiple point clouds with dense pairwise point-to-plane distances. More...