#include <OdometryOption.h>

Public Member Functions
	OdometryOption (const std::vector< int > &iteration_number_per_pyramid_level={20, 10, 5}, double max_depth_diff=0.03, double min_depth=0.0, double max_depth=4.0)
	Parameterized Constructor. More...

	~OdometryOption ()

Data Fields
std::vector< int >	iteration_number_per_pyramid_level_

double	max_depth_diff_

double	min_depth_
	Pixels that has larger than specified depth values are ignored. More...

double	max_depth_
	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	max_depth_diff = `0.03`,
		double	min_depth = `0.0`,
		double	max_depth = `4.0`
	)

inline

Parameterized Constructor.

Parameters

iteration_number_per_pyramid_level	Number of iterations per level of pyramid.
max_depth_diff	Maximum depth difference to be considered as correspondence.
min_depth	Minimum depth below which pixel values are ignored.
max_depth	Maximum depth above which pixel values are ignored.

◆ ~OdometryOption()

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

inline

Field Documentation

◆ 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 interation number to reduce computation time.

◆ max_depth_

double open3d::pipelines::odometry::OdometryOption::max_depth_

Pixels that has larger than specified depth values are ignored.

◆ max_depth_diff_

double open3d::pipelines::odometry::OdometryOption::max_depth_diff_

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.

◆ min_depth_

double open3d::pipelines::odometry::OdometryOption::min_depth_