#include <OdometryOption.h>
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| | OdometryOption (const std::vector< int > &iteration_number_per_pyramid_level={20, 10, 5}, double max_depth_diff=0.03, double min_depth=0.0, double max_depth=4.0) |
| | Parameterized Constructor. More...
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| | ~OdometryOption () |
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Class that defines Odometry options.
◆ OdometryOption()
| open3d::odometry::OdometryOption::OdometryOption |
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const std::vector< int > & |
iteration_number_per_pyramid_level = {20, 10, 5}, |
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double |
max_depth_diff = 0.03, |
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double |
min_depth = 0.0, |
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double |
max_depth = 4.0 |
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inline |
Parameterized Constructor.
- Parameters
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| iteration_number_per_pyramid_level | Number of iterations per level of pyramid. |
| max_depth_diff | Maximum depth difference to be considered as correspondence. |
| min_depth | Minimum depth below which pixel values are ignored. |
| max_depth | Maximum depth above which pixel values are ignored. |
◆ ~OdometryOption()
| open3d::odometry::OdometryOption::~OdometryOption |
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inline |
◆ iteration_number_per_pyramid_level_
| std::vector<int> open3d::odometry::OdometryOption::iteration_number_per_pyramid_level_ |
Iteration number per image pyramid level, typically larger image in the pyramid have lower interation number to reduce computation time.
◆ max_depth_
| double open3d::odometry::OdometryOption::max_depth_ |
Pixels that has larger than specified depth values are ignored.
◆ max_depth_diff_
| double open3d::odometry::OdometryOption::max_depth_diff_ |
Maximum depth difference to be considered as correspondence. In depth image domain, if two aligned pixels have a depth difference less than specified value, they are considered as a correspondence. Larger value induce more aggressive search, but it is prone to unstable result.
◆ min_depth_
| double open3d::odometry::OdometryOption::min_depth_ |
Pixels that has larger than specified depth values are ignored.
The documentation for this class was generated from the following file:
