Open3D (C++ API)
0.12.0
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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_allocator > | CorrespondenceSetPixelWise |
Functions | |
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 std::vector<Eigen::Vector4i, utility::Vector4i_allocator> open3d::pipelines::odometry::CorrespondenceSetPixelWise |
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() , |
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const Eigen::Matrix4d & | odo_init = Eigen::Matrix4d::Identity() , |
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const RGBDOdometryJacobian & | jacobian_method = RGBDOdometryJacobianFromHybridTerm() , |
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const OdometryOption & | option = OdometryOption() |
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) |
Function to estimate 6D rigid motion from two RGBD image pairs.
source | Source RGBD image. |
target | Target RGBD image. |
pinhole_camera_intrinsic | Camera intrinsic parameters. |
odo_init | Initial 4x4 motion matrix estimation. |
jacobian_method | The odometry Jacobian method to use. |
option | Odometry hyper parameteres. |