PlaneGraphOptimizer.hpp File Reference

#include "reusex/segmentation/Surfel.hpp"
#include "reusex/segmentation/surfel_extraction.hpp"
#include "reusex/slam/LoopClosure.hpp"
#include "reusex/slam/PanoramaLoopEdges.hpp"
#include <string>
#include <vector>

Include dependency graph for PlaneGraphOptimizer.hpp:

Go to the source code of this file.

Classes
struct	reusex::geometry::OdometryEdgeMotion
	Seed motion of one consecutive-frame odometry edge. More...
struct	reusex::geometry::OdometrySigmaScale
	Multiplicative scale applied to an odometry edge's base sigmas. More...
struct	reusex::geometry::PlaneFitQuality
	Fit statistics of one per-frame plane detection: the inputs from which the measurement noise of its OrientedPlane3Factor is derived. More...
struct	reusex::geometry::PlaneFitSigmas
	Statistical standard deviations of a plane fit, in the units of the OrientedPlane3Factor residual. More...
struct	reusex::geometry::PlaneGraphOptions
	Parameters for plane-landmark pose-graph optimization. More...
struct	reusex::geometry::PlaneGraphResult
	Summary statistics from a plane-graph optimization run. More...
class	reusex::geometry::PlaneGraphOptimizer
	Plane-landmark pose-graph optimizer operating purely in memory. More...

Namespaces
namespace	reusex
namespace	reusex::geometry

Enumerations
enum class	reusex::geometry::PlaneNoiseModel { reusex::geometry::uniform , reusex::geometry::inlier_count , reusex::geometry::fit_geometry }
	How the measurement noise of an individual plane observation is chosen. More...
enum class	reusex::geometry::OdometryNoiseModel { reusex::geometry::fixed , reusex::geometry::motion }
	How the per-edge measurement noise of the consecutive-frame odometry BetweenFactors is derived (#225 odometry-trust experiment). More...

Functions
std::vector< OdometrySigmaScale >	reusex::geometry::odometry_motion_scales (const std::vector< OdometryEdgeMotion > &motion, double min_scale, double max_scale)
	Per-edge sigma scales for OdometryNoiseModel::motion.
PlaneFitSigmas	reusex::geometry::plane_fit_sigmas (const PlaneFitQuality &q)
	Standard first-order uncertainty of a least-squares plane fit through q .inliers points with point noise sigma = q.residual_rms and in-plane RMS extent r = q.extent_minor:
PlaneGraphResult	reusex::geometry::optimize_sensor_poses (ProjectDB &db, const PlaneGraphOptions &options, bool dry_run=false)
	High-level entry point: extract surfels for every sensor frame in db, globally optimize their poses via the plane-landmark graph, and (unless dry_run) write the optimized world poses back into the sensor_frames table.