Open3D (C++ API)  0.12.0
Public Member Functions | Data Fields
open3d::pipelines::odometry::OdometryOption Class Reference

#include <OdometryOption.h>

Public Member Functions

 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...
 
 ~OdometryOption ()
 

Data Fields

std::vector< int > iteration_number_per_pyramid_level_
 
double max_depth_diff_
 
double min_depth_
 Pixels that has larger than specified depth values are ignored. More...
 
double max_depth_
 Pixels that has larger than specified depth values are ignored. More...
 

Detailed Description

Class that defines Odometry options.

Constructor & Destructor Documentation

◆ OdometryOption()

open3d::pipelines::odometry::OdometryOption::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 
)
inline

Parameterized Constructor.

Parameters
iteration_number_per_pyramid_levelNumber of iterations per level of pyramid.
max_depth_diffMaximum depth difference to be considered as correspondence.
min_depthMinimum depth below which pixel values are ignored.
max_depthMaximum depth above which pixel values are ignored.

◆ ~OdometryOption()

open3d::pipelines::odometry::OdometryOption::~OdometryOption ( )
inline

Field Documentation

◆ iteration_number_per_pyramid_level_

std::vector<int> open3d::pipelines::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::pipelines::odometry::OdometryOption::max_depth_

Pixels that has larger than specified depth values are ignored.

◆ max_depth_diff_

double open3d::pipelines::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::pipelines::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: