open3d.t.pipelines.slac.save_correspondences_for_pointclouds#
- open3d.t.pipelines.slac.save_correspondences_for_pointclouds(fnames_processed, fragment_pose_graph, params=SLACOptimizerParams[max_iterations=5, voxel_size=5.000000e-02, distance_threshold=7.000000e-02, fitness_threshold=3.000000e-01, regularizer_weight=1.000000e+00, device=CPU:0, slac_folder=]., debug_option=SLACDebugOption[debug=false, debug_start_node_idx=0].)#
Read pose graph containing loop closures and odometry to compute correspondences. Uses aggressive pruning – reject any suspicious pair.
- Parameters:
fnames_processed (List[str]) – List of filenames (str) for pre-processed pointcloud fragments.
fragment_pose_graph (open3d.pipelines.registration.PoseGraph) – PoseGraph for pointcloud fragments
(open3d.t.pipelines.slac.slac_optimizer_params (params) – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
optional – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
default=SLACOptimizerParams[max_iterations=5 – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
voxel_size=5.000000e-02 – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
distance_threshold=7.000000e-02 – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
fitness_threshold=3.000000e-01 – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
regularizer_weight=1.000000e+00 – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
device=CPU – 0, slac_folder=].): slac_optimizer_params Parameters to tune in optimization.
debug_option (open3d.t.pipelines.slac.slac_debug_option, optional, default=SLACDebugOption[debug=false, debug_start_node_idx=0].) – debug options.
- Returns:
None