open3d.pipelines.odometry.compute_rgbd_odometry#
- open3d.pipelines.odometry.compute_rgbd_odometry(rgbd_source, rgbd_target, pinhole_camera_intrinsic=(with default value), odo_init=(with default value), jacobian=RGBDOdometryJacobianFromHybridTerm, option=(with default value))#
Function to estimate 6D rigid motion from two RGBD image pairs. Output: (is_success, 4x4 motion matrix, 6x6 information matrix).
- Parameters:
rgbd_source (open3d.geometry.RGBDImage) – Source RGBD image.
rgbd_target (open3d.geometry.RGBDImage) – Target RGBD image.
pinhole_camera_intrinsic (open3d.camera.PinholeCameraIntrinsic, optional) –
Camera intrinsic parameters Default value:
PinholeCameraIntrinsic with width = -1 and height = -1. Access intrinsics with intrinsic_matrix.
odo_init (numpy.ndarray[numpy.float64[4, 4]], optional) –
Initial 4x4 motion matrix estimation. Default value:
array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])
jacobian (open3d.pipelines.odometry.RGBDOdometryJacobian, optional, default=RGBDOdometryJacobianFromHybridTerm) – The odometry Jacobian method to use. Can be
RGBDOdometryJacobianFromHybridTerm()
orRGBDOdometryJacobianFromColorTerm().
option (open3d.pipelines.odometry.OdometryOption, optional) –
Odometry hyper parameters. Default value:
OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] depth_diff_max = 0.030000 depth_min = 0.000000 depth_max = 4.000000
- Returns:
Tuple[bool, numpy.ndarray[numpy.float64[4, 4]], numpy.ndarray[numpy.float64[6, 6]]]