open3d.pipelines.registration.GlobalOptimizationOption#

class open3d.pipelines.registration.GlobalOptimizationOption#

Option for GlobalOptimization.

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption) -> None

Default constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption, arg0: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption) -> None

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.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