perturb_poses.hpp File Reference

#include <Eigen/Core>
#include <vector>

Include dependency graph for perturb_poses.hpp:

Go to the source code of this file.

Classes
struct	reusex::geometry::PoseDriftOptions
	Parameters for synthetic trajectory drift (#338). More...
struct	reusex::geometry::PoseDriftResult
	What a drift-synthesis run did, in the units the benchmark reports. More...

Namespaces
namespace	reusex
namespace	reusex::geometry

Functions
PoseDriftResult	reusex::geometry::perturb_trajectory (std::vector< Eigen::Matrix4d > &poses, const PoseDriftOptions &opt)
	Apply synthetic drift to a trajectory in place (the pure, database-free core — this is what the unit tests exercise).
double	reusex::geometry::median_pair_disagreement (const std::vector< Eigen::Matrix4d > &reference, const std::vector< Eigen::Matrix4d > &other, int min_frame_gap)
	Measure the median relative-pose disagreement between two trajectories over temporally distant frame pairs (m).
PoseDriftResult	reusex::geometry::perturb_sensor_poses (ProjectDB &db, const PoseDriftOptions &opt, bool dry_run=false)
	Apply synthetic drift to every sensor-frame pose stored in db (#338).