Option for GlobalOptimization. More...

#include <GlobalOptimizationConvergenceCriteria.h>

Public Member Functions
	GlobalOptimizationOption (double max_correspondence_distance=0.075, double edge_prune_threshold=0.25, double preference_loop_closure=1.0, int reference_node=-1)
	Parameterized Constructor. More...

	~GlobalOptimizationOption ()

Public Attributes
double	max_correspondence_distance_

double	edge_prune_threshold_

double	preference_loop_closure_

int	reference_node_
	The pose of this node is unchanged after optimization. More...

Detailed Description

Option for GlobalOptimization.

Definition at line 17 of file GlobalOptimizationConvergenceCriteria.h.

Constructor & Destructor Documentation

◆ GlobalOptimizationOption()

cloudViewer::pipelines::registration::GlobalOptimizationOption::GlobalOptimizationOption	(	double	max_correspondence_distance = `0.075`,
		double	edge_prune_threshold = `0.25`,
		double	preference_loop_closure = `1.0`,
		int	reference_node = `-1`
	)

inline

Parameterized Constructor.

Parameters

max_correspondence_distance	Identifies which distance value is used for finding neighboring points when making information matrix. According to [Choi et al 2015], this distance is used for determining $mu, a line process weight.
edge_prune_threshold	According to [Choi et al 2015], line_process weight < edge_prune_threshold (0.25) is pruned.
preference_loop_closure	dometry vs loop-closure. [0,1] -> try to unchange odometry edges, [1) -> try to utilize loop-closure. Recommendation: 0.1 for RGBD Odometry, 2.0 for fragment registration.
reference_node	The pose of this node is unchanged after optimization.

Definition at line 31 of file GlobalOptimizationConvergenceCriteria.h.

References edge_prune_threshold_, cloudViewer::pipelines::registration::max_correspondence_distance, max_correspondence_distance_, and preference_loop_closure_.

◆ ~GlobalOptimizationOption()

cloudViewer::pipelines::registration::GlobalOptimizationOption::~GlobalOptimizationOption ( )

inline

Definition at line 49 of file GlobalOptimizationConvergenceCriteria.h.

Member Data Documentation

◆ edge_prune_threshold_

double cloudViewer::pipelines::registration::GlobalOptimizationOption::edge_prune_threshold_

According to [Choi et al 2015], line_process weight < edge_prune_threshold_ (0.25) is pruned.

Definition at line 59 of file GlobalOptimizationConvergenceCriteria.h.

Referenced by cloudViewer::pipelines::registration::CreatePoseGraphWithoutInvalidEdges(), GlobalOptimizationOption(), cloudViewer::pipelines::registration::pybind_global_optimization(), and cloudViewer::pipelines::registration::UpdateConfidence().

◆ max_correspondence_distance_

double cloudViewer::pipelines::registration::GlobalOptimizationOption::max_correspondence_distance_

See reference list in GlobalOptimization.h Identifies which distance value is used for finding neighboring points when making information matrix. According to [Choi et al 2015], this distance is used for determining $mu, a line process weight.

Definition at line 56 of file GlobalOptimizationConvergenceCriteria.h.

Referenced by cloudViewer::pipelines::registration::ComputeLineProcessWeight(), GlobalOptimizationOption(), and cloudViewer::pipelines::registration::pybind_global_optimization().

◆ preference_loop_closure_

double cloudViewer::pipelines::registration::GlobalOptimizationOption::preference_loop_closure_

Balancing parameter to decide which one is more reliable: odometry vs loop-closure. [0,1] -> try to unchange odometry edges, [1) -> try to utilize loop-closure. Recommendation: 0.1 for RGBD Odometry, 2.0 for fragment registration.

Definition at line 64 of file GlobalOptimizationConvergenceCriteria.h.

Referenced by cloudViewer::pipelines::registration::ComputeLineProcessWeight(), GlobalOptimizationOption(), and cloudViewer::pipelines::registration::pybind_global_optimization().