59 const geometry::RGBDImage &source,
60 const geometry::RGBDImage &target,
61 const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
62 camera::PinholeCameraIntrinsic(),
63 const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
64 const RGBDOdometryJacobian &jacobian_method =
65 RGBDOdometryJacobianFromHybridTerm(),
66 const OdometryOption &option = OdometryOption());
Definition: PinholeCameraIntrinsic.cpp:35
std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > ComputeRGBDOdometry(const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, const Eigen::Matrix4d &odo_init, const RGBDOdometryJacobian &jacobian_method, const OdometryOption &option)
Function to estimate 6D rigid motion from two RGBD image pairs.
Definition: Odometry.cpp:520