open3d.registration.global_optimization
- open3d.registration.global_optimization(pose_graph, method, criteria, option)
Function to optimize registration.PoseGraph
- Parameters
pose_graph (open3d.registration.PoseGraph) – The pose_graph to be optimized (in-place).
method (open3d.registration.GlobalOptimizationMethod) – Global optimization method. Either
registration::GlobalOptimizationGaussNewton()
orregistration::GlobalOptimizationLevenbergMarquardt()
.criteria (open3d.registration.GlobalOptimizationConvergenceCriteria) – Global optimization convergence criteria.
option (open3d.registration.GlobalOptimizationOption) – Global optimization option.
- Returns
None