open3d.t.pipelines.slac.run_rigid_optimizer_for_fragments#

open3d.t.pipelines.slac.run_rigid_optimizer_for_fragments(fragment_filenames, fragment_pose_graph, 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=CPU:0, slac_folder=]., debug_option=SLACDebugOption[debug=false, debug_start_node_idx=0].)#

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=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