Open3D (C++ API)  0.16.0
GlobalOptimization.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include <memory>
30
33
34namespace open3d {
35namespace pipelines {
36namespace registration {
37
38class PoseGraph;
39
53 PoseGraph &pose_graph,
54 const GlobalOptimizationMethod &method =
55 GlobalOptimizationLevenbergMarquardt(),
56 const GlobalOptimizationConvergenceCriteria &criteria =
57 GlobalOptimizationConvergenceCriteria(),
58 const GlobalOptimizationOption &option = GlobalOptimizationOption());
59
62std::shared_ptr<PoseGraph> CreatePoseGraphWithoutInvalidEdges(
63 const PoseGraph &pose_graph, const GlobalOptimizationOption &option);
64
65} // namespace registration
66} // namespace pipelines
67} // namespace open3d
std::shared_ptr< PoseGraph > CreatePoseGraphWithoutInvalidEdges(const PoseGraph &pose_graph, const GlobalOptimizationOption &option)
Definition: GlobalOptimization.cpp:466
void GlobalOptimization(PoseGraph &pose_graph, const GlobalOptimizationMethod &method, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option)
Definition: GlobalOptimization.cpp:699
open3d::pipelines::registration::PoseGraph PoseGraph
Definition: SLACOptimizer.h:41
Definition: PinholeCameraIntrinsic.cpp:35