Open3D (C++ API)  0.16.0
Odometry.h
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26
27#pragma once
28
29#include <Eigen/Core>
30#include <iostream>
31#include <tuple>
32#include <vector>
33
39
40namespace open3d {
41
42namespace geometry {
43class RGBDImage;
44}
45
46namespace pipelines {
47namespace odometry {
48
58std::tuple<bool, Eigen::Matrix4d, Eigen::Matrix6d> ComputeRGBDOdometry(
59 const geometry::RGBDImage &source,
60 const geometry::RGBDImage &target,
61 const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
62 camera::PinholeCameraIntrinsic(),
63 const Eigen::Matrix4d &odo_init = Eigen::Matrix4d::Identity(),
64 const RGBDOdometryJacobian &jacobian_method =
65 RGBDOdometryJacobianFromHybridTerm(),
66 const OdometryOption &option = OdometryOption());
67
68} // namespace odometry
69} // namespace pipelines
70} // 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:517
Definition: PinholeCameraIntrinsic.cpp:35