Open3D (C++ API)  0.18.0+252c867
GlobalOptimization.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include <memory>
11 
14 
15 namespace open3d {
16 namespace pipelines {
17 namespace registration {
18 
19 class PoseGraph;
20 
34  PoseGraph &pose_graph,
35  const GlobalOptimizationMethod &method =
36  GlobalOptimizationLevenbergMarquardt(),
37  const GlobalOptimizationConvergenceCriteria &criteria =
38  GlobalOptimizationConvergenceCriteria(),
39  const GlobalOptimizationOption &option = GlobalOptimizationOption());
40 
43 std::shared_ptr<PoseGraph> CreatePoseGraphWithoutInvalidEdges(
44  const PoseGraph &pose_graph, const GlobalOptimizationOption &option);
45 
46 } // namespace registration
47 } // namespace pipelines
48 } // namespace open3d
std::shared_ptr< PoseGraph > CreatePoseGraphWithoutInvalidEdges(const PoseGraph &pose_graph, const GlobalOptimizationOption &option)
Definition: GlobalOptimization.cpp:447
void GlobalOptimization(PoseGraph &pose_graph, const GlobalOptimizationMethod &method, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option)
Definition: GlobalOptimization.cpp:680
open3d::pipelines::registration::PoseGraph PoseGraph
Definition: SLACOptimizer.h:22
Definition: PinholeCameraIntrinsic.cpp:16