Open3D (C++ API)  0.19.0
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GlobalOptimizationMethod.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <memory>
11
12namespace open3d {
13namespace pipelines {
14namespace registration {
15
16class PoseGraph;
17
18class GlobalOptimizationOption;
19
20class GlobalOptimizationConvergenceCriteria;
21
22class GlobalOptimizationOption;
23
28public:
32
33public:
39 virtual void OptimizePoseGraph(
40 PoseGraph &pose_graph,
42 const GlobalOptimizationOption &option) const = 0;
43};
44
49public:
53
54public:
56 PoseGraph &pose_graph,
58 const GlobalOptimizationOption &option) const override;
59};
60
79
80} // namespace registration
81} // namespace pipelines
82} // namespace open3d
Convergence criteria of GlobalOptimization.
Definition GlobalOptimizationConvergenceCriteria.h:72
Global optimization with Gauss-Newton algorithm.
Definition GlobalOptimizationMethod.h:48
~GlobalOptimizationGaussNewton() override
Definition GlobalOptimizationMethod.h:52
void OptimizePoseGraph(PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const override
Run pose graph optimization method.
Definition GlobalOptimization.cpp:471
GlobalOptimizationGaussNewton()
Default Constructor.
Definition GlobalOptimizationMethod.h:51
Global optimization with Levenberg-Marquardt algorithm.
Definition GlobalOptimizationMethod.h:67
GlobalOptimizationLevenbergMarquardt()
Default Constructor.
Definition GlobalOptimizationMethod.h:70
~GlobalOptimizationLevenbergMarquardt() 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:563
Base class for global optimization method.
Definition GlobalOptimizationMethod.h:27
GlobalOptimizationMethod()
Default Constructor.
Definition GlobalOptimizationMethod.h:30
virtual void OptimizePoseGraph(PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const =0
Run pose graph optimization method.
virtual ~GlobalOptimizationMethod()
Definition GlobalOptimizationMethod.h:31
Option for GlobalOptimization.
Definition GlobalOptimizationConvergenceCriteria.h:17
Data structure defining the pose graph.
Definition PoseGraph.h:96
open3d::pipelines::registration::PoseGraph PoseGraph
Definition SLACOptimizer.h:22
Definition PinholeCameraIntrinsic.cpp:16