open3d::t::pipelines::slac Namespace Reference

Data Structures
class	ControlGrid
struct	SLACOptimizerParams
struct	SLACDebugOption

Typedefs
using	PoseGraph = open3d::pipelines::registration::PoseGraph

Functions
void	FillInRigidAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
void	FillInSLACAlignmentTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, ControlGrid &ctr_grid, const std::vector< std::string > &fnames, const PoseGraph &pose_graph, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
void	FillInSLACRegularizerTerm (Tensor &AtA, Tensor &Atb, Tensor &residual, ControlGrid &ctr_grid, int n_frags, const SLACOptimizerParams &params, const SLACDebugOption &debug_option)
void	SaveCorrespondencesForPointClouds (const std::vector< std::string > &fnames_processed, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Read pose graph containing loop closures and odometry to compute putative correspondences between pairs of pointclouds. More...
std::pair< PoseGraph, ControlGrid >	RunSLACOptimizerForFragments (const std::vector< std::string > &fragment_filenames, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras, CVPR 2014 Qian-Yi Zhou and Vladlen Koltun Estimate a shared control grid for all fragments for scene reconstruction, implemented in https://github.com/qianyizh/ElasticReconstruction. More...
PoseGraph	RunRigidOptimizerForFragments (const std::vector< std::string > &fragment_filenames, const PoseGraph &fragment_pose_graph, const SLACOptimizerParams &params=SLACOptimizerParams(), const SLACDebugOption &debug_option=SLACDebugOption())
	Extended ICP to simultaneously align multiple point clouds with dense pairwise point-to-plane distances. More...
void	VisualizePointCloudCorrespondences (const t::geometry::PointCloud &tpcd_i, const t::geometry::PointCloud &tpcd_j, const core::Tensor correspondences, const core::Tensor &T_ij)
	Visualize pairs with correspondences. More...
void	VisualizePointCloudEmbedding (t::geometry::PointCloud &tpcd_param, ControlGrid &ctr_grid, bool show_lines)
void	VisualizePointCloudDeformation (const geometry::PointCloud &tpcd_param, ControlGrid &ctr_grid)
void	VisualizeGridDeformation (ControlGrid &cgrid)

Typedef Documentation

PoseGraph

using open3d::t::pipelines::slac::PoseGraph = typedef open3d::pipelines::registration::PoseGraph

Function Documentation

FillInRigidAlignmentTerm()

void open3d::t::pipelines::slac::FillInRigidAlignmentTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		const std::vector< std::string > &	fnames,
		const PoseGraph &	pose_graph,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

FillInSLACAlignmentTerm()

void open3d::t::pipelines::slac::FillInSLACAlignmentTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		ControlGrid &	ctr_grid,
		const std::vector< std::string > &	fnames,
		const PoseGraph &	pose_graph,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

FillInSLACRegularizerTerm()

void open3d::t::pipelines::slac::FillInSLACRegularizerTerm	(	Tensor &	AtA,
		Tensor &	Atb,
		Tensor &	residual,
		ControlGrid &	ctr_grid,
		int	n_frags,
		const SLACOptimizerParams &	params,
		const SLACDebugOption &	debug_option
	)

RunRigidOptimizerForFragments()

PoseGraph open3d::t::pipelines::slac::RunRigidOptimizerForFragments	(	const std::vector< std::string > &	fragment_filenames,
		const PoseGraph &	fragment_pose_graph,
		const SLACOptimizerParams &	params = SLACOptimizerParams(),
		const SLACDebugOption &	debug_option = SLACDebugOption()
	)

Extended ICP to simultaneously align multiple point clouds with dense pairwise point-to-plane distances.

Parameters

fragment_fnames	Vector of filenames for pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in rigid optimization.
debug_option	Debug options.

Returns

Updated pose graph.

RunSLACOptimizerForFragments()

std::pair< PoseGraph, ControlGrid > open3d::t::pipelines::slac::RunSLACOptimizerForFragments	(	const std::vector< std::string > &	fragment_filenames,
		const PoseGraph &	fragment_pose_graph,
		const SLACOptimizerParams &	params = SLACOptimizerParams(),
		const SLACDebugOption &	debug_option = SLACDebugOption()
	)

Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras, CVPR 2014 Qian-Yi Zhou and Vladlen Koltun Estimate a shared control grid for all fragments for scene reconstruction, implemented in https://github.com/qianyizh/ElasticReconstruction.

Parameters

fragment_filenames	Vector of filenames for pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in SLAC.
debug_option	Debug options.

Returns

pair of optimized registration::PoseGraph and slac::ControlGrid.

SaveCorrespondencesForPointClouds()

void open3d::t::pipelines::slac::SaveCorrespondencesForPointClouds	(	const std::vector< std::string > &	fnames_processed,
		const PoseGraph &	fragment_pose_graph,
		const SLACOptimizerParams &	params = SLACOptimizerParams(),
		const SLACDebugOption &	debug_option = SLACDebugOption()
	)

Read pose graph containing loop closures and odometry to compute putative correspondences between pairs of pointclouds.

Parameters

fnames_processed	Vector of filenames for processed pointcloud fragments.
fragment_pose_graph	Legacy PoseGraph for pointcloud fragments.
params	Parameters to tune in finding correspondences.
debug_option	SLACDebugOption containing the debug options.

VisualizeGridDeformation()

void open3d::t::pipelines::slac::VisualizeGridDeformation

(

ControlGrid &

cgrid

)

VisualizePointCloudCorrespondences()

void open3d::t::pipelines::slac::VisualizePointCloudCorrespondences	(	const t::geometry::PointCloud &	tpcd_i,
		const t::geometry::PointCloud &	tpcd_j,
		const core::Tensor	correspondences,
		const core::Tensor &	T_ij
	)

Visualize pairs with correspondences.

Parameters

tpcd_i,source	point cloud.
tpcd_j,target	point cloud.
correspondences	Putative correspondence between tcpd_i and tpcd_j.
T_ij	Transformation from tpcd_i to tpcd_j. Use T_j.Inverse() @ T_i (node transformation in a pose graph) to check global correspondences , and T_ij (edge transformation) to check pairwise correspondences.

VisualizePointCloudDeformation()

void open3d::t::pipelines::slac::VisualizePointCloudDeformation	(	const geometry::PointCloud &	tpcd_param,
		ControlGrid &	ctr_grid
	)

VisualizePointCloudEmbedding()

void open3d::t::pipelines::slac::VisualizePointCloudEmbedding	(	t::geometry::PointCloud &	tpcd_param,
		ControlGrid &	ctr_grid,
		bool	show_lines
	)