GlobalOptimization.h

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#pragma once

#include <memory>
#include <Open3D/Registration/GlobalOptimizationMethod.h>
#include <Open3D/Registration/GlobalOptimizationConvergenceCriteria.h>

namespace open3d {
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 open3d