83 lines
2.6 KiB
C
83 lines
2.6 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <memory>
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namespace open3d {
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namespace pipelines {
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namespace registration {
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class PoseGraph;
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class GlobalOptimizationOption;
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class GlobalOptimizationConvergenceCriteria;
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class GlobalOptimizationOption;
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/// \class GlobalOptimizationMethod
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///
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/// \brief Base class for global optimization method.
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class GlobalOptimizationMethod {
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public:
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/// \brief Default Constructor.
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GlobalOptimizationMethod() {}
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virtual ~GlobalOptimizationMethod() {}
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public:
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/// \brief Run pose graph optimization method.
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///
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/// \param pose_graph The pose graph to be optimized (in-place).
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/// \param criteria Convergence criteria.
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/// \param option Global optimization options.
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virtual void OptimizePoseGraph(
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PoseGraph &pose_graph,
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const GlobalOptimizationConvergenceCriteria &criteria,
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const GlobalOptimizationOption &option) const = 0;
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};
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/// \class GlobalOptimizationGaussNewton
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///
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/// \brief Global optimization with Gauss-Newton algorithm.
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class GlobalOptimizationGaussNewton : public GlobalOptimizationMethod {
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public:
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/// \brief Default Constructor.
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GlobalOptimizationGaussNewton() {}
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~GlobalOptimizationGaussNewton() override {}
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public:
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void OptimizePoseGraph(
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PoseGraph &pose_graph,
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const GlobalOptimizationConvergenceCriteria &criteria,
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const GlobalOptimizationOption &option) const override;
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};
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/// \class GlobalOptimizationLevenbergMarquardt
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///
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/// \brief Global optimization with Levenberg-Marquardt algorithm.
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///
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/// Recommended over the Gauss-Newton method since the LM has better convergence
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/// characteristics.
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class GlobalOptimizationLevenbergMarquardt : public GlobalOptimizationMethod {
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public:
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/// \brief Default Constructor.
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GlobalOptimizationLevenbergMarquardt() {}
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~GlobalOptimizationLevenbergMarquardt() override {}
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public:
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void OptimizePoseGraph(
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PoseGraph &pose_graph,
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const GlobalOptimizationConvergenceCriteria &criteria,
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const GlobalOptimizationOption &option) const override;
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};
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} // namespace registration
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} // namespace pipelines
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} // namespace open3d
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