OdometryOption.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 <string>
 
namespace open3d {
namespace pipelines {
namespace odometry {
 
class OdometryOption {
public:
    OdometryOption(
            const std::vector<int> &iteration_number_per_pyramid_level =
                    {20, 10,
                     5} /* {smaller image size to original image size} */,
            double depth_diff_max = 0.03,
            double depth_min = 0.0,
            double depth_max = 4.0)
        : iteration_number_per_pyramid_level_(
                  iteration_number_per_pyramid_level),
          depth_diff_max_(depth_diff_max),
          depth_min_(depth_min),
          depth_max_(depth_max) {}
    ~OdometryOption() {}
 
public:
    std::vector<int> iteration_number_per_pyramid_level_;
    double depth_diff_max_;
    double depth_min_;
    double depth_max_;
};
 
}  // namespace odometry
}  // namespace pipelines
}  // namespace open3d