open3d.pipelines.odometry.RGBDOdometryJacobian#

class open3d.pipelines.odometry.RGBDOdometryJacobian#

Base class that computes Jacobian from two RGB-D images.

__init__(*args, **kwargs)#
compute_jacobian_and_residual(self: open3d.pipelines.odometry.RGBDOdometryJacobian, Function to compute i-th row of J and r the vector form of J_r is basically 6x1 matrix, but it can be easily extendable to 6xn matrix. See RGBDOdometryJacobianFromHybridTerm for this case.row: typing.SupportsInt, J_r: collections.abc.Sequence[typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[6, 1]"]], r: open3d.utility.DoubleVector, w: open3d.utility.DoubleVector, source: open3d.geometry.RGBDImage, target: open3d.geometry.RGBDImage, source_xyz: open3d.geometry.Image, target_dx: open3d.geometry.RGBDImage, target_dy: open3d.geometry.RGBDImage, intrinsic: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 3]"], extrinsic: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[4, 4]"], corresps: open3d.utility.Vector4iVector) None#