Open3D (C++ API)  0.19.0
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Odometry.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 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
20
21namespace open3d {
22
23namespace geometry {
24class RGBDImage;
25}
26
27namespace pipelines {
28namespace odometry {
29
39std::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
Real target
Definition SurfaceReconstructionPoisson.cpp:267
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