GlobalOptimizationMethod.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
#include <memory>
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
class PoseGraph;
 
class GlobalOptimizationOption;
 
class GlobalOptimizationConvergenceCriteria;
 
class GlobalOptimizationOption;
 
class GlobalOptimizationMethod {
public:
    GlobalOptimizationMethod() {}
    virtual ~GlobalOptimizationMethod() {}
 
public:
    virtual void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const = 0;
};
 
class GlobalOptimizationGaussNewton : public GlobalOptimizationMethod {
public:
    GlobalOptimizationGaussNewton() {}
    ~GlobalOptimizationGaussNewton() override {}
 
public:
    void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const override;
};
 
class GlobalOptimizationLevenbergMarquardt : public GlobalOptimizationMethod {
public:
    GlobalOptimizationLevenbergMarquardt() {}
    ~GlobalOptimizationLevenbergMarquardt() override {}
 
public:
    void OptimizePoseGraph(
            PoseGraph &pose_graph,
            const GlobalOptimizationConvergenceCriteria &criteria,
            const GlobalOptimizationOption &option) const override;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer