reusex::slam Namespace Reference

Classes
struct	FramePairIcpOptions
	Knobs of refine_frame_pair_icp(). More...
struct	FramePairIcpResult

Functions
FramePairIcpResult	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.

Function Documentation

refine_frame_pair_icp()

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.

Read-only: nothing is written to db.

Exceptions

std::runtime_error	when a frame has no depth or no valid pose, or its depth has no return inside the range (the message names the frame and the reason).
std::invalid_argument	when from_id == to_id.

References refine_frame_pair_icp().

Referenced by refine_frame_pair_icp().