Option for GlobalOptimization.
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#include <GlobalOptimizationConvergenceCriteria.h>
Option for GlobalOptimization.
◆ GlobalOptimizationOption()
open3d::pipelines::registration::GlobalOptimizationOption::GlobalOptimizationOption |
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double |
max_correspondence_distance = 0.075 , |
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double |
edge_prune_threshold = 0.25 , |
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double |
preference_loop_closure = 1.0 , |
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int |
reference_node = -1 |
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inline |
Parameterized Constructor.
- Parameters
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max_correspondence_distance | Identifies which distance value is used for finding neighboring points when making information matrix. According to [Choi et al 2015], this distance is used for determining $mu, a line process weight. |
edge_prune_threshold | According to [Choi et al 2015], line_process weight < edge_prune_threshold (0.25) is pruned. |
preference_loop_closure | dometry vs loop-closure. [0,1] -> try to unchange odometry edges, [1) -> try to utilize loop-closure. Recommendation: 0.1 for RGBD Odometry, 2.0 for fragment registration. |
reference_node | The pose of this node is unchanged after optimization. |
◆ ~GlobalOptimizationOption()
open3d::pipelines::registration::GlobalOptimizationOption::~GlobalOptimizationOption |
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◆ edge_prune_threshold_
double open3d::pipelines::registration::GlobalOptimizationOption::edge_prune_threshold_ |
According to [Choi et al 2015], line_process weight < edge_prune_threshold_ (0.25) is pruned.
◆ max_correspondence_distance_
double open3d::pipelines::registration::GlobalOptimizationOption::max_correspondence_distance_ |
See reference list in GlobalOptimization.h Identifies which distance value is used for finding neighboring points when making information matrix. According to [Choi et al 2015], this distance is used for determining $mu, a line process weight.
◆ preference_loop_closure_
double open3d::pipelines::registration::GlobalOptimizationOption::preference_loop_closure_ |
Balancing parameter to decide which one is more reliable: odometry vs loop-closure. [0,1] -> try to unchange odometry edges, [1) -> try to utilize loop-closure. Recommendation: 0.1 for RGBD Odometry, 2.0 for fragment registration.
◆ reference_node_
int open3d::pipelines::registration::GlobalOptimizationOption::reference_node_ |
The pose of this node is unchanged after optimization.
The documentation for this class was generated from the following file: