open3d.pipelines.odometry.compute_correspondence#

open3d.pipelines.odometry.compute_correspondence(intrinsic_matrix, extrinsic, depth_s, depth_t, option=OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] depth_diff_max = 0.030000 depth_min = 0.000000 depth_max = 4.000000)#

Function to estimate point to point correspondences from two depth images. A vector of u_s, v_s, u_t, v_t which maps the 2d coordinates of source to target.

Parameters:

  • intrinsic_matrix (numpy.ndarray[numpy.float64[3, 3]]) – Camera intrinsic parameters.

  • extrinsic (numpy.ndarray[numpy.float64[4, 4]]) – Estimation of transform from source to target.

  • depth_s (open3d.geometry.Image) – Source depth image.

  • depth_t (open3d.geometry.Image) – Target depth image.

  • option (open3d.pipelines.odometry.OdometryOption, optional, default=OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] depth_diff_max = 0.030000 depth_min = 0.000000 depth_max = 4.000000) – Odometry hyper parameters.

Returns:

open3d.utility.Vector4iVector