Open3D (C++ API)  0.18.0+252c867
Odometry.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include <Eigen/Core>
11 #include <iostream>
12 #include <tuple>
13 #include <vector>
14 
18 #include "open3d/utility/Eigen.h"
19 #include "open3d/utility/Logging.h"
20 
21 namespace open3d {
22 
23 namespace geometry {
24 class RGBDImage;
25 }
26 
27 namespace pipelines {
28 namespace odometry {
29 
39 std::tuple<bool, Eigen::Matrix4d, Eigen::Matrix6d> ComputeRGBDOdometry(
40  const geometry::RGBDImage &source,
41  const geometry::RGBDImage &target,
42  const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
43  camera::PinholeCameraIntrinsic(),
44  const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
45  const RGBDOdometryJacobian &jacobian_method =
46  RGBDOdometryJacobianFromHybridTerm(),
47  const OdometryOption &option = OdometryOption());
48 
60  const Eigen::Matrix3d &intrinsic_matrix,
61  const Eigen::Matrix4d &extrinsic,
62  const geometry::Image &depth_s,
63  const geometry::Image &depth_t,
64  const OdometryOption &option);
65 
66 } // namespace odometry
67 } // namespace pipelines
68 } // 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)
Function to estimate 6D rigid motion from two RGBD image pairs.
Definition: Odometry.cpp:498
std::vector< Eigen::Vector4i, utility::Vector4i_allocator > CorrespondenceSetPixelWise
Definition: RGBDOdometryJacobian.h:32
CorrespondenceSetPixelWise ComputeCorrespondence(const Eigen::Matrix3d &intrinsic_matrix, const Eigen::Matrix4d &extrinsic, const geometry::Image &depth_s, const geometry::Image &depth_t, const OdometryOption &option)
Function to estimate point to point correspondences from two depth images.
Definition: Odometry.cpp:100
Definition: PinholeCameraIntrinsic.cpp:16