open3d.pipelines.registration.GlobalOptimizationOption
- class open3d.pipelines.registration.GlobalOptimizationOption
Option for GlobalOptimization.
- __init__(*args, **kwargs)
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption) -> None
Default constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption, arg0: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.GlobalOptimizationOption, max_correspondence_distance: float = 0.03, edge_prune_threshold: float = 0.25, preference_loop_closure: float = 1.0, reference_node: int = -1) -> None
- property edge_prune_threshold
According to [Choi et al 2015], line_process weight < edge_prune_threshold (0.25) is pruned.
- Type
float
- property 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.
- Type
float
- property preference_loop_closure
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.
- Type
float
- Type
Balancing parameter to decide which one is more reliable
- property reference_node
The pose of this node is unchanged after optimization.
- Type
int