Open3D (C++ API)
Odometry.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <iostream>
30 #include <vector>
31 #include <tuple>
32 #include <Eigen/Core>
33 #include <Open3D/Utility/Console.h>
37 #include <Open3D/Utility/Eigen.h>
38 
39 namespace open3d {
40 
41 namespace geometry {
42 class RGBDImage;
43 }
44 
45 namespace odometry {
48 std::tuple<bool, Eigen::Matrix4d, Eigen::Matrix6d> ComputeRGBDOdometry(
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());
57 
58 } // namespace odometry
59 } // namespace open3d
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