open3d.pipelines.registration.global_optimization#
- open3d.pipelines.registration.global_optimization(pose_graph, method, criteria, option)#
Function to optimize PoseGraph
- Parameters:
pose_graph (open3d.pipelines.registration.PoseGraph) – The pose_graph to be optimized (in-place).
method (open3d.pipelines.registration.GlobalOptimizationMethod) – Global optimization method. Either
GlobalOptimizationGaussNewton()
orGlobalOptimizationLevenbergMarquardt()
.criteria (open3d.pipelines.registration.GlobalOptimizationConvergenceCriteria) – Global optimization convergence criteria.
option (open3d.pipelines.registration.GlobalOptimizationOption) – Global optimization option.
- Returns:
None