frame_pair_icp.hpp File Reference

#include <array>

Include dependency graph for frame_pair_icp.hpp:

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Classes
struct	reusex::slam::FramePairIcpOptions
	Knobs of refine_frame_pair_icp(). More...
struct	reusex::slam::FramePairIcpResult

Namespaces
namespace	reusex
namespace	reusex::slam

Functions
FramePairIcpResult	reusex::slam::refine_frame_pair_icp (const ProjectDB &db, int from_id, int to_id, const FramePairIcpOptions &opts={})
	Back-project each frame's stored depth into world space (its stored pose and intrinsics) and run point-to-point ICP of from_id onto to_id, seeded by the stored poses.