SLACOptimizer.cpp File Reference

#include "open3d/t/pipelines/slac/SLACOptimizer.h"
#include "open3d/core/EigenConverter.h"
#include "open3d/core/TensorCheck.h"
#include "open3d/core/nns/NearestNeighborSearch.h"
#include "open3d/io/PointCloudIO.h"
#include "open3d/t/pipelines/slac/FillInLinearSystemImpl.h"
#include "open3d/utility/FileSystem.h"

Namespaces
namespace	open3d
namespace	open3d::t
namespace	open3d::t::pipelines
namespace	open3d::t::pipelines::slac

Functions
void	open3d::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.
std::pair< PoseGraph, ControlGrid >	open3d::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.
PoseGraph	open3d::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.