open3d.registration.global_optimization

open3d.registration.global_optimization(pose_graph, method, criteria, option)

Function to optimize registration.PoseGraph

Parameters

• pose_graph (open3d.registration.PoseGraph) – The pose_graph to be optimized (in-place).

• method (open3d.registration.GlobalOptimizationMethod) – Global optimization method. Either registration::GlobalOptimizationGaussNewton() or registration::GlobalOptimizationLevenbergMarquardt().

• criteria (open3d.registration.GlobalOptimizationConvergenceCriteria) – Global optimization convergence criteria.

• option (open3d.registration.GlobalOptimizationOption) – Global optimization option.

Returns

None