Open3D (C++ API)  0.18.0
Data Structures | Typedefs | Functions
open3d::pipelines::odometry Namespace Reference

Data Structures

class  OdometryOption
 
class  RGBDOdometryJacobian
 Base class that computes Jacobian from two RGB-D images. More...
 
class  RGBDOdometryJacobianFromColorTerm
 Class to compute Jacobian using color term. More...
 
class  RGBDOdometryJacobianFromHybridTerm
 Class to compute Jacobian using hybrid term. More...
 

Typedefs

typedef std::vector< Eigen::Vector4i, utility::Vector4i_allocatorCorrespondenceSetPixelWise
 

Functions

CorrespondenceSetPixelWise ComputeCorrespondence (const Eigen::Matrix3d &intrinsic_matrix, const Eigen::Matrix4d &extrinsic, const geometry::Image &depth_s, const geometry::Image &depth_t, const OdometryOption &option)
 Function to estimate point to point correspondences from two depth images. More...
 
std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > ComputeRGBDOdometry (const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic=camera::PinholeCameraIntrinsic(), const Eigen::Matrix4d &odo_init=Eigen::Matrix4d::Identity(), const RGBDOdometryJacobian &jacobian_method=RGBDOdometryJacobianFromHybridTerm(), const OdometryOption &option=OdometryOption())
 Function to estimate 6D rigid motion from two RGBD image pairs. More...
 

Typedef Documentation

◆ CorrespondenceSetPixelWise

Function Documentation

◆ ComputeCorrespondence()

CorrespondenceSetPixelWise open3d::pipelines::odometry::ComputeCorrespondence ( const Eigen::Matrix3d &  intrinsic_matrix,
const Eigen::Matrix4d &  extrinsic,
const geometry::Image depth_s,
const geometry::Image depth_t,
const OdometryOption option 
)

Function to estimate point to point correspondences from two depth images.

Parameters
intrinsic_matrixCamera intrinsic parameters.
extrinsicEstimation of transform from source to target.
depth_sSource depth image.
depth_tTarget depth image.
optionOdometry hyper parameters.
Returns
A vector of u_s, v_s, u_t, v_t which maps the 2d coordinates of source to target.

◆ ComputeRGBDOdometry()

std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > open3d::pipelines::odometry::ComputeRGBDOdometry ( const geometry::RGBDImage source,
const geometry::RGBDImage target,
const camera::PinholeCameraIntrinsic pinhole_camera_intrinsic = camera::PinholeCameraIntrinsic(),
const Eigen::Matrix4d &  odo_init = Eigen::Matrix4d::Identity(),
const RGBDOdometryJacobian jacobian_method = RGBDOdometryJacobianFromHybridTerm(),
const OdometryOption option = OdometryOption() 
)

Function to estimate 6D rigid motion from two RGBD image pairs.

Parameters
sourceSource RGBD image.
targetTarget RGBD image.
pinhole_camera_intrinsicCamera intrinsic parameters.
odo_initInitial 4x4 motion matrix estimation.
jacobian_methodThe odometry Jacobian method to use.
optionOdometry hyper parameters.
Returns
is_success, 4x4 motion matrix, 6x6 information matrix.