#include <OdometryOption.h>
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| | OdometryOption (const std::vector< int > &iteration_number_per_pyramid_level={20, 10, 5}, double depth_diff_max=0.03, double depth_min=0.0, double depth_max=4.0) |
| | Parameterized Constructor. More...
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| | ~OdometryOption () |
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Class that defines Odometry options.
◆ OdometryOption()
| open3d::pipelines::odometry::OdometryOption::OdometryOption |
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const std::vector< int > & |
iteration_number_per_pyramid_level = {20, 10, 5}, |
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double |
depth_diff_max = 0.03, |
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double |
depth_min = 0.0, |
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double |
depth_max = 4.0 |
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inline |
Parameterized Constructor.
- Parameters
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| iteration_number_per_pyramid_level | Number of iterations per level of pyramid. |
| depth_diff_max | Maximum depth difference to be considered as correspondence. |
| depth_min | Minimum depth below which pixel values are ignored. |
| depth_max | Maximum depth above which pixel values are ignored. |
◆ ~OdometryOption()
| open3d::pipelines::odometry::OdometryOption::~OdometryOption |
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◆ depth_diff_max_
| double open3d::pipelines::odometry::OdometryOption::depth_diff_max_ |
Maximum depth difference to be considered as correspondence. In depth image domain, if two aligned pixels have a depth difference less than specified value, they are considered as a correspondence. Larger value induce more aggressive search, but it is prone to unstable result.
◆ depth_max_
| double open3d::pipelines::odometry::OdometryOption::depth_max_ |
Pixels that has larger than specified depth values are ignored.
◆ depth_min_
| double open3d::pipelines::odometry::OdometryOption::depth_min_ |
Pixels that has larger than specified depth values are ignored.
◆ iteration_number_per_pyramid_level_
| std::vector<int> open3d::pipelines::odometry::OdometryOption::iteration_number_per_pyramid_level_ |
Iteration number per image pyramid level, typically larger image in the pyramid have lower iteration number to reduce computation time.
The documentation for this class was generated from the following file:
1.9.1