cloudViewer.pipelines.registration.global_optimization

cloudViewer.pipelines.registration.global_optimization(pose_graph, method, criteria, option)

Function to optimize PoseGraph

Parameters:

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

• method (cloudViewer.pipelines.registration.GlobalOptimizationMethod) – Global optimization method. Either GlobalOptimizationGaussNewton() or GlobalOptimizationLevenbergMarquardt().

• criteria (cloudViewer.pipelines.registration.GlobalOptimizationConvergenceCriteria) – Global optimization convergence criteria.

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

Returns:

None