GlobalOptimization.h

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#pragma once

#include <memory>

#include "open3d/pipelines/registration/GlobalOptimizationConvergenceCriteria.h"
#include "open3d/pipelines/registration/GlobalOptimizationMethod.h"

namespace open3d {
namespace pipelines {
namespace registration {

class PoseGraph;

void GlobalOptimization(
        PoseGraph &pose_graph,
        const GlobalOptimizationMethod &method =
                GlobalOptimizationLevenbergMarquardt(),
        const GlobalOptimizationConvergenceCriteria &criteria =
                GlobalOptimizationConvergenceCriteria(),
        const GlobalOptimizationOption &option = GlobalOptimizationOption());

std::shared_ptr<PoseGraph> CreatePoseGraphWithoutInvalidEdges(
        const PoseGraph &pose_graph, const GlobalOptimizationOption &option);

}  // namespace registration
}  // namespace pipelines
}  // namespace open3d