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 depth_diff_max=0.03, double depth_min=0.0, double depth_max=4.0)
	Parameterized Constructor. More...
	~OdometryOption ()

Data Fields
std::vector< int >	iteration_number_per_pyramid_level_
double	depth_diff_max_
double	depth_min_
	Pixels that has larger than specified depth values are ignored. More...
double	depth_max_
	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  depth_diff_max = 0.03, double  depth_min = 0.0, double  depth_max = 4.0  )

inline

Parameterized Constructor.

Parameters

iteration_number_per_pyramid_level	Number of iterations per level of pyramid.
depth_diff_max	Maximum depth difference to be considered as correspondence.
depth_min	Minimum depth below which pixel values are ignored.
depth_max	Maximum depth above which pixel values are ignored.

~OdometryOption()

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

inline

Field Documentation

depth_diff_max_

double open3d::pipelines::odometry::OdometryOption::depth_diff_max_

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.

depth_max_

double open3d::pipelines::odometry::OdometryOption::depth_max_

Pixels that has larger than specified depth values are ignored.

depth_min_

double open3d::pipelines::odometry::OdometryOption::depth_min_

Pixels that has larger than specified depth values are ignored.

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 iteration number to reduce computation time.

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The documentation for this class was generated from the following file:

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/odometry/OdometryOption.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))