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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import os
if __name__ == "__main__":
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
print("")
print(
"Parameters for o3d.pipelines.registration.PoseGraph optimization ...")
method = o3d.pipelines.registration.GlobalOptimizationLevenbergMarquardt()
criteria = o3d.pipelines.registration.GlobalOptimizationConvergenceCriteria(
)
option = o3d.pipelines.registration.GlobalOptimizationOption()
print("")
print(method)
print(criteria)
print(option)
print("")
print(
"Optimizing Fragment o3d.pipelines.registration.PoseGraph using open3d ..."
)
pose_graph_data = o3d.data.DemoPoseGraphOptimization()
pose_graph_fragment = o3d.io.read_pose_graph(
pose_graph_data.pose_graph_fragment_path)
print(pose_graph_fragment)
o3d.pipelines.registration.global_optimization(pose_graph_fragment, method,
criteria, option)
o3d.io.write_pose_graph(
os.path.join('pose_graph_example_fragment_optimized.json'),
pose_graph_fragment)
print("")
print(
"Optimizing Global o3d.pipelines.registration.PoseGraph using open3d ..."
)
pose_graph_global = o3d.io.read_pose_graph(
pose_graph_data.pose_graph_global_path)
print(pose_graph_global)
o3d.pipelines.registration.global_optimization(pose_graph_global, method,
criteria, option)
o3d.io.write_pose_graph(
os.path.join('pose_graph_example_global_optimized.json'),
pose_graph_global)
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