67 const float voxel_size = 0.05,
68 const float distance_threshold = 0.07,
69 const float fitness_threshold = 0.3,
70 const float regularizer_weight = 1,
72 const std::string slac_folder =
"") {
73 if (fitness_threshold < 0) {
76 if (distance_threshold < 0) {
104 const int debug_start_node_idx = 0) {
105 if (debug_start_node_idx < 0) {
118 if (debug_start_node_idx < 0) {
137 const std::vector<std::string>& fnames_processed,
139 const SLACOptimizerParams& params = SLACOptimizerParams(),
140 const SLACDebugOption& debug_option = SLACDebugOption());
153 const std::vector<std::string>& fragment_filenames,
155 const SLACOptimizerParams& params = SLACOptimizerParams(),
156 const SLACDebugOption& debug_option = SLACDebugOption());
167 const std::vector<std::string>& fragment_filenames,
169 const SLACOptimizerParams& params = SLACOptimizerParams(),
170 const SLACDebugOption& debug_option = SLACDebugOption());
filament::Texture::InternalFormat format
Definition: FilamentResourceManager.cpp:195
#define LogError(...)
Definition: Logging.h:48
Data structure defining the pose graph.
Definition: PoseGraph.h:96
PoseGraph RunRigidOptimizerForFragments(const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams ¶ms, const SLACDebugOption &debug_option)
Extended ICP to simultaneously align multiple point clouds with dense pairwise point-to-plane distanc...
Definition: SLACOptimizer.cpp:369
open3d::pipelines::registration::PoseGraph PoseGraph
Definition: SLACOptimizer.h:22
void SaveCorrespondencesForPointClouds(const std::vector< std::string > &fnames_processed, const PoseGraph &pose_graph, const SLACOptimizerParams ¶ms, const SLACDebugOption &debug_option)
Read pose graph containing loop closures and odometry to compute putative correspondences between pai...
Definition: SLACOptimizer.cpp:208
std::pair< PoseGraph, ControlGrid > RunSLACOptimizerForFragments(const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams ¶ms, const SLACDebugOption &debug_option)
Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras,...
Definition: SLACOptimizer.cpp:297
Definition: PinholeCameraIntrinsic.cpp:16
Definition: SLACOptimizer.h:90
bool debug_
Enable debug.
Definition: SLACOptimizer.h:92
SLACDebugOption(const bool debug=false, const int debug_start_node_idx=0)
Definition: SLACOptimizer.h:103
int debug_start_node_idx_
Definition: SLACOptimizer.h:96
SLACDebugOption(const int debug_start_node_idx)
Definition: SLACOptimizer.h:117
Definition: SLACOptimizer.h:24
float distance_threshold_
Distance threshold to filter inconsistent correspondences.
Definition: SLACOptimizer.h:33
std::string slac_folder_
Relative directory to store SLAC results in the dataset folder.
Definition: SLACOptimizer.h:45
SLACOptimizerParams(const int max_iterations=5, const float voxel_size=0.05, const float distance_threshold=0.07, const float fitness_threshold=0.3, const float regularizer_weight=1, const core::Device device=core::Device("CPU:0"), const std::string slac_folder="")
Definition: SLACOptimizer.h:66
float voxel_size_
Definition: SLACOptimizer.h:30
float regularizer_weight_
Weight of the regularizer.
Definition: SLACOptimizer.h:39
std::string GetSubfolderName() const
Definition: SLACOptimizer.h:46
float fitness_threshold_
Fitness threshold to filter inconsistent pairs.
Definition: SLACOptimizer.h:36
core::Device device_
Device to use.
Definition: SLACOptimizer.h:42
int max_iterations_
Number of iterations.
Definition: SLACOptimizer.h:26