Open3D (C++ API)
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Data Structures | |
class | OdometryOption |
class | RGBDOdometryJacobian |
Base class that computes Jacobian from two RGB-D images. More... | |
class | RGBDOdometryJacobianFromColorTerm |
class | RGBDOdometryJacobianFromHybridTerm |
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, const Eigen::Matrix4d &odo_init, const RGBDOdometryJacobian &jacobian_method, const OdometryOption &option) |
typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator> open3d::odometry::CorrespondenceSetPixelWise |
std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > open3d::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 odometry between two RGB-D images output: is_success, 4x4 motion matrix, 6x6 information matrix