open3d.odometry.compute_rgbd_odometry¶
-
open3d.odometry.
compute_rgbd_odometry
(rgbd_source, rgbd_target, pinhole_camera_intrinsic=(with default value), odo_init=(with default value), jacobian=RGBDOdometryJacobianFromHybridTerm, option=(with default value))¶ Function to estimate 6D rigid motion from two RGBD image pairs. Output: (is_success, 4x4 motion matrix, 6x6 information matrix).
- Parameters
rgbd_source (open3d.geometry.RGBDImage) – Source RGBD image.
rgbd_target (open3d.geometry.RGBDImage) – Target RGBD image.
pinhole_camera_intrinsic (open3d.camera.PinholeCameraIntrinsic, optional) –
Camera intrinsic parameters Default value:
camera.PinholeCameraIntrinsic with width = -1 and height = -1. Access intrinsics with intrinsic_matrix.
odo_init (numpy.ndarray[float64[4, 4]], optional) –
Initial 4x4 motion matrix estimation. Default value:
array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])
jacobian (open3d.odometry.RGBDOdometryJacobian, optional, default=RGBDOdometryJacobianFromHybridTerm) – The odometry Jacobian method to use. Can be
odometry::RGBDOdometryJacobianFromHybridTerm()
orodometry::RGBDOdometryJacobianFromColorTerm().
option (open3d.odometry.OdometryOption, optional) –
Odometry hyper parameteres. Default value:
odometry.OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] max_depth_diff = 0.030000 min_depth = 0.000000 max_depth = 4.000000
- Returns
Tuple[bool, numpy.ndarray[float64[4, 4]], numpy.ndarray[float64[6, 6]]]