Open3D (C++ API)  0.12.0
Public Member Functions | Data Fields
open3d::pipelines::registration::GlobalOptimizationOption Class Reference

Option for GlobalOptimization. More...

#include <GlobalOptimizationConvergenceCriteria.h>

Public Member Functions

 GlobalOptimizationOption (double max_correspondence_distance=0.075, double edge_prune_threshold=0.25, double preference_loop_closure=1.0, int reference_node=-1)
 Parameterized Constructor. More...
 
 ~GlobalOptimizationOption ()
 

Data Fields

double max_correspondence_distance_
 
double edge_prune_threshold_
 
double preference_loop_closure_
 
int reference_node_
 The pose of this node is unchanged after optimization. More...
 

Detailed Description

Option for GlobalOptimization.

Constructor & Destructor Documentation

◆ GlobalOptimizationOption()

open3d::pipelines::registration::GlobalOptimizationOption::GlobalOptimizationOption ( double  max_correspondence_distance = 0.075,
double  edge_prune_threshold = 0.25,
double  preference_loop_closure = 1.0,
int  reference_node = -1 
)
inline

Parameterized Constructor.

Parameters
max_correspondence_distanceIdentifies 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_thresholdAccording to [Choi et al 2015], line_process weight < edge_prune_threshold (0.25) is pruned.
preference_loop_closuredometry 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_nodeThe pose of this node is unchanged after optimization.

◆ ~GlobalOptimizationOption()

open3d::pipelines::registration::GlobalOptimizationOption::~GlobalOptimizationOption ( )
inline

Field Documentation

◆ 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: