cloudViewer.pipelines.registration.GlobalOptimizationLevenbergMarquardt#

class cloudViewer.pipelines.registration.GlobalOptimizationLevenbergMarquardt#

Global optimization with Levenberg-Marquardt algorithm. Recommended over the Gauss-Newton method since the LM has better convergence characteristics.

OptimizePoseGraph(self, pose_graph, criteria, option)#

Run pose graph optimization.

Parameters:

  • pose_graph (cloudViewer.pipelines.registration.PoseGraph) – The pose graph to be optimized (in-place).

  • criteria (cloudViewer::pipelines::registration::GlobalOptimizationConvergenceCriteria) – Convergence criteria.

  • option (cloudViewer::pipelines::registration::GlobalOptimizationOption) – Global optimization options.

Returns:

None

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: cloudViewer.pipelines.registration.GlobalOptimizationLevenbergMarquardt) -> None

Default constructor

  1. __init__(self: cloudViewer.pipelines.registration.GlobalOptimizationLevenbergMarquardt, arg0: cloudViewer.pipelines.registration.GlobalOptimizationLevenbergMarquardt) -> None

Copy constructor