Open3D (C++ API)
Odometry.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <iostream>
31 #include <tuple>
32 #include <vector>
33 
37 #include "Open3D/Utility/Console.h"
38 #include "Open3D/Utility/Eigen.h"
39 
40 namespace open3d {
41 
42 namespace geometry {
43 class RGBDImage;
44 }
45 
46 namespace odometry {
49 std::tuple<bool, Eigen::Matrix4d, Eigen::Matrix6d> ComputeRGBDOdometry(
50  const geometry::RGBDImage &source,
51  const geometry::RGBDImage &target,
52  const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
53  camera::PinholeCameraIntrinsic(),
54  const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
55  const RGBDOdometryJacobian &jacobian_method =
56  RGBDOdometryJacobianFromHybridTerm(),
57  const OdometryOption &option = OdometryOption());
58 
59 } // namespace odometry
60 } // 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:516
Definition: PinholeCameraIntrinsic.cpp:34