open3d.t.pipelines.slac.run_rigid_optimizer_for_fragments#

open3d.t.pipelines.slac.run_rigid_optimizer_for_fragments(fragment_filenames: list[str], fragment_pose_graph: open3d.pipelines.registration.PoseGraph, params: open3d.t.pipelines.slac.slac_optimizer_params = SLACOptimizerParams(max_iterations=5, voxel_size=5.000000e-02, distance_threshold=7.000000e-02, fitness_threshold=3.000000e-01, regularizer_weight=1.000000e+00, device=open3d.core.Device('CPU:0'), slac_folder=''), debug_option: open3d.t.pipelines.slac.slac_debug_option = SLACDebugOption(debug=False, debug_start_node_idx=0)) → open3d.pipelines.registration.PoseGraph#

Extended ICP to simultaneously align multiple point clouds with dense pairwise point-to-plane distances.

Parameters:

  • fragment_filenames (list[str]) – List of filenames (str) for pointcloud fragments.

  • fragment_pose_graph (open3d.pipelines.registration.PoseGraph) – PoseGraph for pointcloud fragments

  • (open3d.t.pipelines.slac.slac_optimizer_params (params) – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • optional – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • default=SLACOptimizerParams(max_iterations=5 – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • voxel_size=5.000000e-02 – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • distance_threshold=7.000000e-02 – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • fitness_threshold=3.000000e-01 – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • regularizer_weight=1.000000e+00 – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • device=open3d.core.Device("CPU – 0”), slac_folder=””)): slac_optimizer_params Parameters to tune in optimization.

  • debug_option (open3d.t.pipelines.slac.slac_debug_option, optional, default=SLACDebugOption(debug=False, debug_start_node_idx=0)) – debug options.

Returns:

open3d.pipelines.registration.PoseGraph