Open3D (C++ API)  0.12.0
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

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

◆ 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 parameteres.
Returns
is_success, 4x4 motion matrix, 6x6 information matrix.