cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt Class Reference

Global optimization with Levenberg-Marquardt algorithm. More...

#include <GlobalOptimizationMethod.h>

Inheritance diagram for cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt:

Collaboration diagram for cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt:

Public Member Functions
	GlobalOptimizationLevenbergMarquardt ()
	Default Constructor. More...
	~GlobalOptimizationLevenbergMarquardt () override
void	OptimizePoseGraph (PoseGraph &pose_graph, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option) const override
	Run pose graph optimization method. More...
Public Member Functions inherited from cloudViewer::pipelines::registration::GlobalOptimizationMethod
	GlobalOptimizationMethod ()
	Default Constructor. More...
virtual	~GlobalOptimizationMethod ()

Detailed Description

Global optimization with Levenberg-Marquardt algorithm.

Recommended over the Gauss-Newton method since the LM has better convergence characteristics.

Definition at line 66 of file GlobalOptimizationMethod.h.

Constructor & Destructor Documentation

GlobalOptimizationLevenbergMarquardt()

cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt::GlobalOptimizationLevenbergMarquardt ( )

inline

Default Constructor.

Definition at line 69 of file GlobalOptimizationMethod.h.

~GlobalOptimizationLevenbergMarquardt()

cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt::~GlobalOptimizationLevenbergMarquardt ( )

inlineoverride

Definition at line 70 of file GlobalOptimizationMethod.h.

Member Function Documentation

OptimizePoseGraph()

void cloudViewer::pipelines::registration::GlobalOptimizationLevenbergMarquardt::OptimizePoseGraph ( PoseGraph &  pose_graph, const GlobalOptimizationConvergenceCriteria &  criteria, const GlobalOptimizationOption &  option  ) const

overridevirtual

Run pose graph optimization method.

Parameters

pose_graph	The pose graph to be optimized (in-place).
criteria	Convergence criteria.
option	Global optimization options.

Implements cloudViewer::pipelines::registration::GlobalOptimizationMethod.

Definition at line 560 of file GlobalOptimization.cpp.

References cloudViewer::pipelines::registration::CheckMaxIteration(), cloudViewer::pipelines::registration::CheckMaxIterationLM(), cloudViewer::pipelines::registration::CheckRelativeIncrement(), cloudViewer::pipelines::registration::CheckRelativeResidualIncrement(), cloudViewer::pipelines::registration::CheckResidual(), cloudViewer::pipelines::registration::CheckRightTerm(), cloudViewer::pipelines::registration::ComputeLinearSystem(), cloudViewer::pipelines::registration::ComputeLineProcessWeight(), cloudViewer::pipelines::registration::ComputeResidual(), cloudViewer::pipelines::registration::ComputeZeta(), cloudViewer::pipelines::registration::PoseGraph::edges_, cloudViewer::utility::Timer::GetDurationInMillisecond(), LogDebug, cloudViewer::pipelines::registration::GlobalOptimizationConvergenceCriteria::lower_scale_factor_, max(), min(), cloudViewer::pipelines::registration::PoseGraph::nodes_, cloudViewer::utility::SolveLinearSystemPSD(), cloudViewer::utility::Timer::Start(), cloudViewer::utility::Timer::Stop(), cloudViewer::pipelines::registration::UpdateConfidence(), cloudViewer::pipelines::registration::UpdatePoseGraph(), cloudViewer::pipelines::registration::UpdatePoseVector(), and cloudViewer::pipelines::registration::GlobalOptimizationConvergenceCriteria::upper_scale_factor_.

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The documentation for this class was generated from the following files:

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/GlobalOptimizationMethod.h
• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/GlobalOptimization.cpp