PanoramaLoopEdges.hpp File Reference

#include "reusex/slam/LoopClosure.hpp"
#include <Eigen/Core>
#include <vector>

Include dependency graph for PanoramaLoopEdges.hpp:

Go to the source code of this file.

Classes
struct	reusex::geometry::PanoramaLoopOptions
	Parameters for panorama-derived loop-edge detection. More...
struct	reusex::geometry::PanoramaLoopResult
	Statistics from panorama loop-edge detection. More...
struct	reusex::geometry::detail::PanoResection
	One panorama's independent resection against one frame. More...

Namespaces
namespace	reusex
namespace	reusex::geometry
namespace	reusex::geometry::detail
	Internals of detect_loop_edges, exposed ONLY so the geometry stages of the pipeline can be regression-tested without a database and without RGB-D fixtures (docs/STANDARDS.md §7; same rationale as plane_factor_consistent_residual() in PlaneGraphOptimizer.cpp).

Functions
std::vector< LoopEdge >	reusex::geometry::detect_panorama_loop_edges (ProjectDB &db, const std::vector< int > &node_ids, const std::vector< Eigen::Matrix4d > &seed_poses, const PanoramaLoopOptions &options, const LoopClosureOptions &gates, PanoramaLoopResult *out_result=nullptr)
	Detect panorama-derived wide-baseline loop edges.
std::vector< LoopEdge >	reusex::geometry::detail::edges_from_resections (std::vector< PanoResection > resections, const std::vector< Eigen::Matrix4d > &seed_poses, const PanoramaLoopOptions &opt, const LoopClosureOptions &gates, PanoramaLoopResult *stats=nullptr)
	Turn one panorama's per-frame resections into gated loop edges.