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_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	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	The 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.

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The documentation for this class was generated from the following file:

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/GlobalOptimizationConvergenceCriteria.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))