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