Open3D (C++ API)  0.18.0+252c867
Public Member Functions | Data Fields
open3d::pipelines::odometry::OdometryOption Class Reference

#include <OdometryOption.h>

Public Member Functions

 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...
 
 ~OdometryOption ()
 

Data Fields

std::vector< int > iteration_number_per_pyramid_level_
 
double depth_diff_max_
 
double depth_min_
 Pixels that has larger than specified depth values are ignored. More...
 
double depth_max_
 Pixels that has larger than specified depth values are ignored. More...
 

Detailed Description

Class that defines Odometry options.

Constructor & Destructor Documentation

◆ OdometryOption()

open3d::pipelines::odometry::OdometryOption::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 
)
inline

Parameterized Constructor.

Parameters
iteration_number_per_pyramid_levelNumber of iterations per level of pyramid.
depth_diff_maxMaximum depth difference to be considered as correspondence.
depth_minMinimum depth below which pixel values are ignored.
depth_maxMaximum depth above which pixel values are ignored.

◆ ~OdometryOption()

open3d::pipelines::odometry::OdometryOption::~OdometryOption ( )
inline

Field Documentation

◆ 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: