JointPairwiseRegistration.hpp File Reference

#include "reusex/segmentation/Surfel.hpp"
#include "reusex/segmentation/surfel_extraction.hpp"
#include <vector>

Include dependency graph for JointPairwiseRegistration.hpp:

Go to the source code of this file.

Classes
struct	reusex::geometry::JprParams
	Parameters for joint pairwise pose refinement. More...
struct	reusex::geometry::JprResult
	Summary statistics from a registration run. More...
class	reusex::geometry::JointPairwiseRegistration
	Joint pairwise pose optimizer operating purely in memory. More...

Namespaces
namespace	reusex
namespace	reusex::geometry

Functions
JprResult	reusex::geometry::refine_sensor_poses (ProjectDB &db, const JprParams &params, bool dry_run=false)
	High-level entry point: extract surfels for every sensor frame in db, jointly refine their poses via JPR, and (unless dry_run) write the refined world poses back into the sensor_frames table.