49 const geometry::RGBDImage &source,
50 const geometry::RGBDImage &target,
51 const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
52 camera::PinholeCameraIntrinsic(),
53 const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
54 const RGBDOdometryJacobian &jacobian_method =
55 RGBDOdometryJacobianFromHybridTerm(),
56 const OdometryOption &option = OdometryOption());
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)
Definition: Odometry.cpp:515
Definition: PinholeCameraIntrinsic.cpp:33