Open3D (C++ API)  0.18.0
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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
15namespace open3d {
16namespace pipelines {
17namespace registration {
18
19class PoseGraph;
20
34 PoseGraph &pose_graph,
35 const GlobalOptimizationMethod &method =
36 GlobalOptimizationLevenbergMarquardt(),
37 const GlobalOptimizationConvergenceCriteria &criteria =
38 GlobalOptimizationConvergenceCriteria(),
39 const GlobalOptimizationOption &option = GlobalOptimizationOption());
40
43std::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