reusex::geometry::PlaneGraphOptimizer Class Reference

Plane-landmark pose-graph optimizer operating purely in memory. More...

#include <PlaneGraphOptimizer.hpp>

Public Member Functions
	PlaneGraphOptimizer (PlaneGraphOptions options)
PlaneGraphResult	optimize (std::vector< FrameSurfels > &frames, const std::vector< LoopEdge > &loop_edges={}) const
	Globally optimize the world poses of the given frames in place (each FrameSurfels::world_pose is updated).

Detailed Description

Plane-landmark pose-graph optimizer operating purely in memory.

Definition at line 471 of file PlaneGraphOptimizer.hpp.

Constructor & Destructor Documentation

PlaneGraphOptimizer()

reusex::geometry::PlaneGraphOptimizer::PlaneGraphOptimizer ( PlaneGraphOptions options )

explicit

Member Function Documentation

optimize()

PlaneGraphResult reusex::geometry::PlaneGraphOptimizer::optimize	(	std::vector< FrameSurfels > &	frames,
		const std::vector< LoopEdge > &	loop_edges = {} ) const

Globally optimize the world poses of the given frames in place (each FrameSurfels::world_pose is updated).

Does not touch any database. When too few plane landmarks are found the poses are left unchanged.

Parameters

frames	per-frame surfels + seed poses (mutated in place)
loop_edges	optional wide-baseline relative-pose constraints (P2); added as robust BetweenFactor<Pose3> edges the GNC solver can down-weight. Indices must refer to frames.

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The documentation for this class was generated from the following file:

• libs/reusex/include/slam/PlaneGraphOptimizer.hpp