GlobalOptimizationMethod.h

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#pragma once

#include <memory>

namespace open3d {
namespace pipelines {
namespace registration {

class PoseGraph;

class GlobalOptimizationOption;

class GlobalOptimizationConvergenceCriteria;

class GlobalOptimizationOption;

class GlobalOptimizationMethod {
public:
    GlobalOptimizationMethod() {}
    virtual ~GlobalOptimizationMethod() {}

public:
    virtual void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const = 0;
};

class GlobalOptimizationGaussNewton : public GlobalOptimizationMethod {
public:
    GlobalOptimizationGaussNewton() {}
    ~GlobalOptimizationGaussNewton() override {}

public:
    void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const override;
};

class GlobalOptimizationLevenbergMarquardt : public GlobalOptimizationMethod {
public:
    GlobalOptimizationLevenbergMarquardt() {}
    ~GlobalOptimizationLevenbergMarquardt() override {}

public:
    void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const override;
};

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