49 lines
1.8 KiB
C++
49 lines
1.8 KiB
C++
// ----------------------------------------------------------------------------
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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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#include "open3d/pipelines/registration/GlobalOptimizationConvergenceCriteria.h"
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#include "open3d/pipelines/registration/GlobalOptimizationMethod.h"
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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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/// Function to optimize a PoseGraph
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/// Reference:
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/// [Kümmerle et al 2011]
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/// R Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, W. Burgard
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/// g2o: A General Framework for Graph Optimization, ICRA 2011
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/// [Choi et al 2015]
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/// S. Choi, Q.-Y. Zhou, V. Koltun,
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/// Robust Reconstruction of Indoor Scenes, CVPR 2015
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/// [M. Lourakis 2009]
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/// M. Lourakis,
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/// SBA: A Software Package for Generic Sparse Bundle Adjustment,
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/// Transactions on Mathematical Software, 2009
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void GlobalOptimization(
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PoseGraph &pose_graph,
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const GlobalOptimizationMethod &method =
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GlobalOptimizationLevenbergMarquardt(),
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const GlobalOptimizationConvergenceCriteria &criteria =
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GlobalOptimizationConvergenceCriteria(),
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const GlobalOptimizationOption &option = GlobalOptimizationOption());
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/// Function to prune out uncertain edges having
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/// confidence_ < .edge_prune_threshold_
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std::shared_ptr<PoseGraph> CreatePoseGraphWithoutInvalidEdges(
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const PoseGraph &pose_graph, const GlobalOptimizationOption &option);
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} // namespace registration
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} // namespace pipelines
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} // namespace open3d
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