cloudViewer::t::pipelines::slac Namespace Reference

Classes
class	ControlGrid
struct	SLACOptimizerParams
struct	SLACDebugOption

Typedefs
using	PoseGraph = cloudViewer::pipelines::registration::PoseGraph

Functions
static PointCloud	CreateTPCDFromFile (const std::string &fname, const core::Device &device=core::Device("CPU:0"))
static void	FillInRigidAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, PointCloud &tpcd_i, PointCloud &tpcd_j, const Tensor &Ti, const Tensor &Tj, const int i, const int j, const float threshold)
void	FillInRigidAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
static void	FillInSLACAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, ControlGrid &ctr_grid, const PointCloud &tpcd_param_i, const PointCloud &tpcd_param_j, const Tensor &Ti, const Tensor &Tj, const int i, const int j, const int n_fragments, const float threshold)
void	FillInSLACAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, ControlGrid &ctr_grid, const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
void	FillInSLACRegularizerTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, ControlGrid &ctr_grid, int n_frags, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
static std::vector< std::string >	PreprocessPointClouds (const std::vector< std::string > &fnames, const SLACOptimizerParams &params)
static core::Tensor	ConvertCorrespondencesTargetIndexedToCx2Form (const core::Tensor &target_correspondences)
static core::Tensor	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	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	InitializeControlGrid (ControlGrid &ctr_grid, const std::vector< std::string > &fnames)
static void	UpdatePoses (PoseGraph &fragment_pose_graph, core::Tensor &delta)
static void	UpdateControlGrid (ControlGrid &ctr_grid, core::Tensor &delta)
std::pair< PoseGraph, ControlGrid >	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	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...
static Eigen::Vector3d	Jet (double v, double vmin, double vmax)
void	VisualizePointCloudCorrespondences (const t::geometry::PointCloud &tpcd_i, const t::geometry::PointCloud &tpcd_j, const core::Tensor correspondences, const core::Tensor &T_ij)
	Visualize pairs with correspondences. More...
void	VisualizePointCloudEmbedding (t::geometry::PointCloud &tpcd_param, ControlGrid &ctr_grid, bool show_lines)
void	VisualizePointCloudDeformation (const geometry::PointCloud &tpcd_param, ControlGrid &ctr_grid)
void	VisualizeGridDeformation (ControlGrid &cgrid)
void	pybind_slac (py::module &m)

Variables
static const Eigen::Vector3d	kSourceColor = Eigen::Vector3d(0, 1, 0)
static const Eigen::Vector3d	kTargetColor = Eigen::Vector3d(1, 0, 0)
static const Eigen::Vector3d	kCorresColor = Eigen::Vector3d(0, 0, 1)
static const std::unordered_map< std::string, std::string >	map_shared_argument_docstrings

Typedef Documentation

PoseGraph

using cloudViewer::t::pipelines::slac::PoseGraph = typedef cloudViewer::pipelines::registration::PoseGraph

Definition at line 22 of file SLACOptimizer.h.

Function Documentation

ConvertCorrespondencesTargetIndexedToCx2Form()

static core::Tensor cloudViewer::t::pipelines::slac::ConvertCorrespondencesTargetIndexedToCx2Form ( const core::Tensor &  target_correspondences )

static

Definition at line 86 of file SLACOptimizer.cpp.

References cloudViewer::core::Tensor::Arange(), cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetLength(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Int64, cloudViewer::core::Tensor::Ne(), cloudViewer::core::Tensor::Reshape(), cloudViewer::core::Tensor::SetItem(), and cloudViewer::core::TensorKey::Slice().

Referenced by GetCorrespondenceSetForPointCloudPair().

CreateTPCDFromFile()

static PointCloud cloudViewer::t::pipelines::slac::CreateTPCDFromFile ( const std::string &  fname, const core::Device &  device = core::Device("CPU:0")  )

static

Definition at line 29 of file FillInLinearSystemImpl.h.

References cloudViewer::io::CreatePointCloudFromFile(), cloudViewer::core::Float32, and cloudViewer::t::geometry::PointCloud::FromLegacy().

Referenced by FillInRigidAlignmentTerm(), FillInSLACAlignmentTerm(), InitializeControlGrid(), and SaveCorrespondencesForPointClouds().

FillInRigidAlignmentTerm() [1/2]

void cloudViewer::t::pipelines::slac::FillInRigidAlignmentTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		const std::vector< std::string > &	fnames,
		const PoseGraph &	pose_graph,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

Definition at line 56 of file FillInLinearSystemImpl.h.

References CreateTPCDFromFile(), cloudViewer::t::pipelines::slac::SLACDebugOption::debug_, cloudViewer::t::pipelines::slac::SLACDebugOption::debug_start_node_idx_, cloudViewer::pipelines::registration::PoseGraph::edges_, cloudViewer::core::eigen_converter::EigenMatrixToTensor(), cloudViewer::utility::filesystem::FileExists(), FillInRigidAlignmentTerm(), cloudViewer::core::Float32, format, cloudViewer::t::geometry::PointCloud::GetPointNormals(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Tensor::Inverse(), cloudViewer::core::Tensor::Load(), LogWarning, cloudViewer::core::Tensor::Matmul(), cloudViewer::pipelines::registration::PoseGraph::nodes_, params, cloudViewer::t::geometry::PointCloud::SetPointNormals(), cloudViewer::core::Tensor::To(), and VisualizePointCloudCorrespondences().

FillInRigidAlignmentTerm() [2/2]

static void cloudViewer::t::pipelines::slac::FillInRigidAlignmentTerm ( Tensor &  AtA, Tensor &  Atb, Tensor &  residual, PointCloud &  tpcd_i, PointCloud &  tpcd_j, const Tensor &  Ti, const Tensor &  Tj, const int  i, const int  j, const float  threshold  )

static

Definition at line 37 of file FillInLinearSystemImpl.h.

References cloudViewer::t::pipelines::kernel::FillInRigidAlignmentTerm(), cloudViewer::t::geometry::PointCloud::GetPointNormals(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), and cloudViewer::t::geometry::PointCloud::Transform().

Referenced by FillInRigidAlignmentTerm(), and RunRigidOptimizerForFragments().

FillInSLACAlignmentTerm() [1/2]

static void cloudViewer::t::pipelines::slac::FillInSLACAlignmentTerm ( Tensor &  AtA, Tensor &  Atb, Tensor &  residual, ControlGrid &  ctr_grid, const PointCloud &  tpcd_param_i, const PointCloud &  tpcd_param_j, const Tensor &  Ti, const Tensor &  Tj, const int  i, const int  j, const int  n_fragments, const float  threshold  )

static

Definition at line 103 of file FillInLinearSystemImpl.h.

References cloudViewer::core::Tensor::Add_(), cloudViewer::core::Tensor::Contiguous(), cloudViewer::t::pipelines::slac::ControlGrid::Deform(), cloudViewer::t::pipelines::kernel::FillInSLACAlignmentTerm(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointNormals(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::t::pipelines::slac::ControlGrid::kGrid8NbIndices, cloudViewer::t::pipelines::slac::ControlGrid::kGrid8NbVertexInterpRatios, cloudViewer::core::Tensor::Matmul(), cloudViewer::core::Tensor::Slice(), and cloudViewer::core::Tensor::T().

Referenced by FillInSLACAlignmentTerm(), and RunSLACOptimizerForFragments().

FillInSLACAlignmentTerm() [2/2]

void cloudViewer::t::pipelines::slac::FillInSLACAlignmentTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		ControlGrid &	ctr_grid,
		const std::vector< std::string > &	fnames,
		const PoseGraph &	pose_graph,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

Definition at line 153 of file FillInLinearSystemImpl.h.

References CreateTPCDFromFile(), cloudViewer::t::pipelines::slac::SLACDebugOption::debug_, cloudViewer::t::pipelines::slac::SLACDebugOption::debug_start_node_idx_, cloudViewer::pipelines::registration::PoseGraph::edges_, cloudViewer::core::eigen_converter::EigenMatrixToTensor(), cloudViewer::utility::filesystem::FileExists(), FillInSLACAlignmentTerm(), cloudViewer::core::Float32, format, cloudViewer::t::geometry::PointCloud::GetPointNormals(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Tensor::Inverse(), cloudViewer::core::Tensor::Load(), LogWarning, cloudViewer::core::Tensor::Matmul(), cloudViewer::pipelines::registration::PoseGraph::nodes_, cloudViewer::t::pipelines::slac::ControlGrid::Parameterize(), params, cloudViewer::t::geometry::PointCloud::SetPointNormals(), cloudViewer::core::Tensor::To(), VisualizePointCloudCorrespondences(), VisualizePointCloudDeformation(), and VisualizePointCloudEmbedding().

FillInSLACRegularizerTerm()

void cloudViewer::t::pipelines::slac::FillInSLACRegularizerTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		ControlGrid &	ctr_grid,
		int	n_frags,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

Definition at line 216 of file FillInLinearSystemImpl.h.

References cloudViewer::t::pipelines::slac::SLACDebugOption::debug_, cloudViewer::t::pipelines::kernel::FillInSLACRegularizerTerm(), cloudViewer::t::pipelines::slac::ControlGrid::GetAnchorIdx(), cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetInitPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetNeighborGridMap(), params, and VisualizeGridDeformation().

Referenced by RunSLACOptimizerForFragments().

GetCorrespondenceSetForPointCloudPair()

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  )

static

Definition at line 129 of file SLACOptimizer.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorShape, cloudViewer::t::geometry::PointCloud::Clone(), ConvertCorrespondencesTargetIndexedToCx2Form(), cloudViewer::t::geometry::PointCloud::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::core::nns::NearestNeighborSearch::HybridIndex(), cloudViewer::core::nns::NearestNeighborSearch::HybridSearch(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Int64, cloudViewer::core::Tensor::Inverse(), cloudViewer::core::Tensor::Le(), LogDebug, LogError, cloudViewer::core::Tensor::Matmul(), cloudViewer::core::Tensor::Sum(), cloudViewer::core::Tensor::To(), cloudViewer::t::geometry::PointCloud::Transform(), and VisualizePointCloudCorrespondences().

Referenced by SaveCorrespondencesForPointClouds().

InitializeControlGrid()

static void cloudViewer::t::pipelines::slac::InitializeControlGrid ( ControlGrid &  ctr_grid, const std::vector< std::string > &  fnames  )

static

Definition at line 254 of file SLACOptimizer.cpp.

References CreateTPCDFromFile(), cloudViewer::t::pipelines::slac::ControlGrid::GetDevice(), LogInfo, and cloudViewer::t::pipelines::slac::ControlGrid::Touch().

Referenced by RunSLACOptimizerForFragments().

Jet()

static Eigen::Vector3d cloudViewer::t::pipelines::slac::Jet ( double  v, double  vmin, double  vmax  )

static

Definition at line 21 of file Visualization.cpp.

PreprocessPointClouds()

static std::vector<std::string> cloudViewer::t::pipelines::slac::PreprocessPointClouds ( const std::vector< std::string > &  fnames, const SLACOptimizerParams &  params  )

static

Definition at line 26 of file SLACOptimizer.cpp.

References cloudViewer::t::io::CreatePointCloudFromFile(), cloudViewer::utility::filesystem::FileExists(), format, cloudViewer::utility::filesystem::GetFileNameWithoutDirectory(), LogError, LogInfo, cloudViewer::utility::filesystem::MakeDirectory(), params, and cloudViewer::t::io::WritePointCloud().

Referenced by RunRigidOptimizerForFragments(), and RunSLACOptimizerForFragments().

pybind_slac()

void cloudViewer::t::pipelines::slac::pybind_slac

(

py::module &

m

)

Definition at line 35 of file slac.cpp.

References cloudViewer::t::pipelines::slac::ControlGrid::Compactify(), cloudViewer::t::pipelines::slac::SLACDebugOption::debug_, cloudViewer::t::pipelines::slac::SLACDebugOption::debug_start_node_idx_, cloudViewer::t::pipelines::slac::SLACOptimizerParams::device_, cloudViewer::t::pipelines::slac::SLACOptimizerParams::distance_threshold_, cloudViewer::t::pipelines::slac::SLACOptimizerParams::fitness_threshold_, format, cloudViewer::docstring::FunctionDocInject(), cloudViewer::t::pipelines::slac::ControlGrid::GetAnchorIdx(), cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetDevice(), cloudViewer::t::pipelines::slac::ControlGrid::GetInitPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetNeighborGridMap(), map_shared_argument_docstrings, cloudViewer::t::pipelines::slac::SLACOptimizerParams::max_iterations_, params, cloudViewer::t::pipelines::slac::SLACOptimizerParams::regularizer_weight_, RunRigidOptimizerForFragments(), RunSLACOptimizerForFragments(), SaveCorrespondencesForPointClouds(), cloudViewer::t::pipelines::slac::ControlGrid::Size(), cloudViewer::t::pipelines::slac::SLACOptimizerParams::slac_folder_, and cloudViewer::t::pipelines::slac::SLACOptimizerParams::voxel_size_.

Referenced by cloudViewer::t::pipelines::pybind_pipelines().

RunRigidOptimizerForFragments()

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.

Parameters

fragment_fnames	Vector of filenames for pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in rigid optimization.
debug_option	Debug options.

Returns

Updated pose graph.

Definition at line 370 of file SLACOptimizer.cpp.

References cloudViewer::core::Tensor::Arange(), FillInRigidAlignmentTerm(), cloudViewer::core::Float32, cloudViewer::core::Tensor::IndexSet(), LogInfo, cloudViewer::utility::filesystem::MakeDirectory(), cloudViewer::core::Tensor::Ones(), params, PreprocessPointClouds(), SaveCorrespondencesForPointClouds(), cloudViewer::core::Tensor::Solve(), UpdatePoses(), and cloudViewer::core::Tensor::Zeros().

Referenced by pybind_slac().

RunSLACOptimizerForFragments()

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.

Parameters

fragment_filenames	Vector of filenames for pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in SLAC.
debug_option	Debug options.

Returns

pair of optimized registration::PoseGraph and slac::ControlGrid.

Definition at line 298 of file SLACOptimizer.cpp.

References cloudViewer::core::Tensor::Arange(), cloudViewer::t::pipelines::slac::ControlGrid::Compactify(), FillInSLACAlignmentTerm(), FillInSLACRegularizerTerm(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetLength(), cloudViewer::core::Tensor::IndexSet(), InitializeControlGrid(), cloudViewer::core::Int64, LogInfo, cloudViewer::core::make_pair(), cloudViewer::utility::filesystem::MakeDirectory(), cloudViewer::pipelines::registration::PoseGraph::nodes_, cloudViewer::core::Tensor::Ones(), params, PreprocessPointClouds(), SaveCorrespondencesForPointClouds(), cloudViewer::t::pipelines::slac::ControlGrid::Size(), cloudViewer::core::Tensor::Slice(), cloudViewer::core::Tensor::Solve(), UpdateControlGrid(), UpdatePoses(), and cloudViewer::core::Tensor::Zeros().

Referenced by pybind_slac().

SaveCorrespondencesForPointClouds()

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.

Parameters

fnames_processed	Vector of filenames for processed pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in finding correspondences.
debug_option	SLACDebugOption containing the debug options.

Definition at line 209 of file SLACOptimizer.cpp.

References CreateTPCDFromFile(), cloudViewer::t::pipelines::slac::SLACDebugOption::debug_, cloudViewer::pipelines::registration::PoseGraph::edges_, cloudViewer::core::eigen_converter::EigenMatrixToTensor(), cloudViewer::utility::filesystem::FileExists(), format, GetCorrespondenceSetForPointCloudPair(), cloudViewer::core::Tensor::GetLength(), LogInfo, cloudViewer::pipelines::registration::PoseGraph::nodes_, params, and cloudViewer::core::Tensor::Save().

Referenced by pybind_slac(), RunRigidOptimizerForFragments(), and RunSLACOptimizerForFragments().

UpdateControlGrid()

static void cloudViewer::t::pipelines::slac::UpdateControlGrid ( ControlGrid &  ctr_grid, core::Tensor &  delta  )

static

Definition at line 289 of file SLACOptimizer.cpp.

References cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::core::Tensor::GetLength(), LogError, cloudViewer::t::pipelines::slac::ControlGrid::Size(), cloudViewer::core::Tensor::Slice(), and cloudViewer::core::Tensor::View().

Referenced by RunSLACOptimizerForFragments().

UpdatePoses()

static void cloudViewer::t::pipelines::slac::UpdatePoses ( PoseGraph &  fragment_pose_graph, core::Tensor &  delta  )

static

Definition at line 266 of file SLACOptimizer.cpp.

References cloudViewer::core::eigen_converter::EigenMatrixToTensor(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetLength(), LogError, cloudViewer::core::Tensor::Matmul(), cloudViewer::pipelines::registration::PoseGraph::nodes_, cloudViewer::t::pipelines::kernel::PoseToTransformation(), cloudViewer::core::eigen_converter::TensorToEigenMatrixXf(), cloudViewer::t::geometry::kernel::image::To(), cloudViewer::core::Tensor::To(), and cloudViewer::core::Tensor::View().

Referenced by RunRigidOptimizerForFragments(), and RunSLACOptimizerForFragments().

VisualizeGridDeformation()

void cloudViewer::t::pipelines::slac::VisualizeGridDeformation

(

ControlGrid &

cgrid

)

Definition at line 187 of file Visualization.cpp.

References cloudViewer::geometry::LineSet::CreateFromPointCloudCorrespondences(), cloudViewer::visualization::DrawGeometries(), cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetInitPositions(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::pipelines::slac::ControlGrid::GetNeighborGridMap(), cloudViewer::core::make_pair(), cloudViewer::t::pipelines::slac::ControlGrid::Size(), cloudViewer::core::Tensor::Slice(), cloudViewer::core::Tensor::To(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

Referenced by FillInSLACRegularizerTerm().

VisualizePointCloudCorrespondences()

void cloudViewer::t::pipelines::slac::VisualizePointCloudCorrespondences	(	const t::geometry::PointCloud &	tpcd_i,
		const t::geometry::PointCloud &	tpcd_j,
		const core::Tensor	correspondences,
		const core::Tensor &	T_ij
	)

Visualize pairs with correspondences.

Parameters

tpcd_i,source	point cloud.
tpcd_j,target	point cloud.
correspondences	Putative correspondence between tcpd_i and tpcd_j.
T_ij	Transformation from tpcd_i to tpcd_j. Use T_j.Inverse() @ T_i (node transformation in a pose graph) to check global correspondences , and T_ij (edge transformation) to check pairwise correspondences.

Definition at line 46 of file Visualization.cpp.

References cloudViewer::t::geometry::PointCloud::Clone(), cloudViewer::geometry::LineSet::CreateFromPointCloudCorrespondences(), cloudViewer::visualization::DrawGeometries(), cloudViewer::core::Tensor::GetLength(), kCorresColor, kSourceColor, kTargetColor, cloudViewer::core::make_pair(), cloudViewer::core::Tensor::To(), cloudViewer::t::geometry::PointCloud::ToLegacy(), and cloudViewer::t::geometry::PointCloud::Transform().

Referenced by FillInRigidAlignmentTerm(), FillInSLACAlignmentTerm(), and GetCorrespondenceSetForPointCloudPair().

VisualizePointCloudDeformation()

void cloudViewer::t::pipelines::slac::VisualizePointCloudDeformation	(	const geometry::PointCloud &	tpcd_param,
		ControlGrid &	ctr_grid
	)

Definition at line 139 of file Visualization.cpp.

References cloudViewer::geometry::LineSet::CreateFromPointCloudCorrespondences(), cloudViewer::t::pipelines::slac::ControlGrid::Deform(), cloudViewer::visualization::DrawGeometries(), cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::t::pipelines::slac::ControlGrid::GetInitPositions(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Int64, cloudViewer::core::make_pair(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

Referenced by FillInSLACAlignmentTerm().

VisualizePointCloudEmbedding()

void cloudViewer::t::pipelines::slac::VisualizePointCloudEmbedding	(	t::geometry::PointCloud &	tpcd_param,
		ControlGrid &	ctr_grid,
		bool	show_lines
	)

Definition at line 80 of file Visualization.cpp.

References cloudViewer::t::pipelines::slac::ControlGrid::GetCurrPositions(), cloudViewer::t::geometry::PointCloud::GetPointAttr(), cloudViewer::t::geometry::PointCloud::GetPointPositions(), cloudViewer::core::Tensor::IndexGet(), cloudViewer::core::Int64, cloudViewer::t::pipelines::slac::ControlGrid::kGrid8NbIndices, cloudViewer::t::pipelines::slac::ControlGrid::Size(), cloudViewer::core::Tensor::Slice(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

Referenced by FillInSLACAlignmentTerm().

Variable Documentation

kCorresColor

const Eigen::Vector3d cloudViewer::t::pipelines::slac::kCorresColor = Eigen::Vector3d(0, 0, 1)

static

Definition at line 19 of file Visualization.cpp.

Referenced by VisualizePointCloudCorrespondences().

kSourceColor

const Eigen::Vector3d cloudViewer::t::pipelines::slac::kSourceColor = Eigen::Vector3d(0, 1, 0)

static

Definition at line 17 of file Visualization.cpp.

Referenced by VisualizePointCloudCorrespondences().

kTargetColor

const Eigen::Vector3d cloudViewer::t::pipelines::slac::kTargetColor = Eigen::Vector3d(1, 0, 0)

static

Definition at line 18 of file Visualization.cpp.

Referenced by VisualizePointCloudCorrespondences().

map_shared_argument_docstrings

const std::unordered_map<std::string, std::string> cloudViewer::t::pipelines::slac::map_shared_argument_docstrings

static

Initial value:

= {
                {"fnames_processed",
                 "List of filenames (str) for pre-processed pointcloud "
                 "fragments."},
                {"fragment_filenames",
                 "List of filenames (str) for pointcloud fragments."},
                {"fragment_pose_graph", "PoseGraph for pointcloud fragments"},
                {"params",
                 "slac_optimizer_params Parameters to tune in optimization."},
                {"debug_option", "debug options."}}

Definition at line 24 of file slac.cpp.

Referenced by pybind_slac().