GlobalOptimization.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <memory>
 
#include "pipelines/registration/GlobalOptimizationConvergenceCriteria.h"
#include "pipelines/registration/GlobalOptimizationMethod.h"
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
class PoseGraph;
 
void GlobalOptimization(
        PoseGraph &pose_graph,
        const GlobalOptimizationMethod &method =
                GlobalOptimizationLevenbergMarquardt(),
        const GlobalOptimizationConvergenceCriteria &criteria =
                GlobalOptimizationConvergenceCriteria(),
        const GlobalOptimizationOption &option = GlobalOptimizationOption());
 
std::shared_ptr<PoseGraph> CreatePoseGraphWithoutInvalidEdges(
        const PoseGraph &pose_graph, const GlobalOptimizationOption &option);
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer