surfel_extraction.hpp File Reference

#include "reusex/segmentation/Surfel.hpp"
#include <optional>

Include dependency graph for surfel_extraction.hpp:

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Classes
struct	reusex::geometry::SurfelExtractionParams
	Parameters controlling per-frame surfel extraction (back-projection + normal estimation) used by the registration pipeline. More...

Namespaces
namespace	reusex
namespace	reusex::geometry

Functions
std::optional< FrameSurfels >	reusex::geometry::extract_frame_surfels (ProjectDB &db, int node_id, const SurfelExtractionParams &params)
	Back-project one sensor frame into an optical-frame surfel set and seed its world pose from the stored transform and local (optical->sensor) transform.