Odometry.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <iostream>
#include <tuple>
#include <vector>
 
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/pipelines/odometry/OdometryOption.h"
#include "open3d/pipelines/odometry/RGBDOdometryJacobian.h"
#include "open3d/utility/Eigen.h"
#include "open3d/utility/Logging.h"
 
namespace open3d {
 
namespace geometry {
class RGBDImage;
}
 
namespace pipelines {
namespace odometry {
 
std::tuple<bool, Eigen::Matrix4d, Eigen::Matrix6d> ComputeRGBDOdometry(
        const geometry::RGBDImage &source,
        const geometry::RGBDImage &target,
        const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
                camera::PinholeCameraIntrinsic(),
        const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
        const RGBDOdometryJacobian &jacobian_method =
                RGBDOdometryJacobianFromHybridTerm(),
        const OdometryOption &option = OdometryOption());
 
CorrespondenceSetPixelWise ComputeCorrespondence(
        const Eigen::Matrix3d &intrinsic_matrix,
        const Eigen::Matrix4d &extrinsic,
        const geometry::Image &depth_s,
        const geometry::Image &depth_t,
        const OdometryOption &option);
 
}  // namespace odometry
}  // namespace pipelines
}  // namespace open3d