open3d.registration.GlobalOptimizationOption¶
-
class
open3d.registration.
GlobalOptimizationOption
¶ Option for GlobalOptimization.
-
__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: open3d.registration.GlobalOptimizationOption) -> None
Default constructor
__init__(self: open3d.registration.GlobalOptimizationOption, arg0: open3d.registration.GlobalOptimizationOption) -> None
Copy constructor
__init__(self: open3d.registration.GlobalOptimizationOption, max_correspondence_distance: float = 0.03, edge_prune_threshold: float = 0.25, preference_loop_closure: float = 1.0, reference_node: int = -1) -> None
-
property
edge_prune_threshold
¶ According to [Choi et al 2015], line_process weight < edge_prune_threshold (0.25) is pruned.
- Type
float
-
property
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.
- Type
float
-
property
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.
- Type
float
- Type
Balancing parameter to decide which one is more reliable
-
property
reference_node
¶ The pose of this node is unchanged after optimization.
- Type
int
-