Open3D (C++ API)  0.15.1
GlobalOptimizationMethod.h
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26
27#pragma once
28
29#include <memory>
30
31namespace open3d {
32namespace pipelines {
33namespace registration {
34
35class PoseGraph;
36
37class GlobalOptimizationOption;
38
39class GlobalOptimizationConvergenceCriteria;
40
41class GlobalOptimizationOption;
42
47public:
51
52public:
58 virtual void OptimizePoseGraph(
59 PoseGraph &pose_graph,
61 const GlobalOptimizationOption &option) const = 0;
62};
63
68public:
72
73public:
75 PoseGraph &pose_graph,
77 const GlobalOptimizationOption &option) const override;
78};
79
87public:
91
92public:
94 PoseGraph &pose_graph,
96 const GlobalOptimizationOption &option) const override;
97};
98
99} // namespace registration
100} // namespace pipelines
101} // namespace open3d
Convergence criteria of GlobalOptimization.
Definition: GlobalOptimizationConvergenceCriteria.h:91
Global optimization with Gauss-Newton algorithm.
Definition: GlobalOptimizationMethod.h:67
~GlobalOptimizationGaussNewton() override
Definition: GlobalOptimizationMethod.h:71
void OptimizePoseGraph(PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const override
Run pose graph optimization method.
Definition: GlobalOptimization.cpp:490
GlobalOptimizationGaussNewton()
Default Constructor.
Definition: GlobalOptimizationMethod.h:70
Global optimization with Levenberg-Marquardt algorithm.
Definition: GlobalOptimizationMethod.h:86
GlobalOptimizationLevenbergMarquardt()
Default Constructor.
Definition: GlobalOptimizationMethod.h:89
~GlobalOptimizationLevenbergMarquardt() override
Definition: GlobalOptimizationMethod.h:90
void OptimizePoseGraph(PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const override
Run pose graph optimization method.
Definition: GlobalOptimization.cpp:582
Base class for global optimization method.
Definition: GlobalOptimizationMethod.h:46
GlobalOptimizationMethod()
Default Constructor.
Definition: GlobalOptimizationMethod.h:49
virtual void OptimizePoseGraph(PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const =0
Run pose graph optimization method.
virtual ~GlobalOptimizationMethod()
Definition: GlobalOptimizationMethod.h:50
Option for GlobalOptimization.
Definition: GlobalOptimizationConvergenceCriteria.h:36
Data structure defining the pose graph.
Definition: PoseGraph.h:115
open3d::pipelines::registration::PoseGraph PoseGraph
Definition: SLACOptimizer.h:41
Definition: PinholeCameraIntrinsic.cpp:35