open3d.pipelines.odometry.compute_rgbd_odometry#
- open3d.pipelines.odometry.compute_rgbd_odometry(rgbd_source: open3d.geometry.RGBDImage, rgbd_target: open3d.geometry.RGBDImage, pinhole_camera_intrinsic: open3d.camera.PinholeCameraIntrinsic = PinholeCameraIntrinsic(width=-1, height=-1, ), odo_init: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, , jacobian: open3d.pipelines.odometry.RGBDOdometryJacobian = RGBDOdometryJacobianFromHybridTerm, option: open3d.pipelines.odometry.OdometryOption = OdometryOption( iteration_number_per_pyramid_level=[ 20, 10, 5, ] , depth_diff_max=0.03, depth_min=0, depth_max=4, )) tuple[bool, Annotated[numpy.typing.NDArray[numpy.float64], '[4, 4]'], Annotated[numpy.typing.NDArray[numpy.float64], '[6, 6]']]#
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, default=PinholeCameraIntrinsic(width=-1, height=-1, )) – Camera intrinsic parameters
odo_init (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Initial 4x4 motion matrix estimation.
jacobian (open3d.pipelines.odometry.RGBDOdometryJacobian, optional, default=RGBDOdometryJacobianFromHybridTerm) – The odometry Jacobian method to use. Can be
RGBDOdometryJacobianFromHybridTerm()orRGBDOdometryJacobianFromColorTerm().option (open3d.pipelines.odometry.OdometryOption, optional, default=OdometryOption( iteration_number_per_pyramid_level=[ 20, 10, 5, ] , depth_diff_max=0.03, depth_min=0, depth_max=4, )) – Odometry hyper parameters.
- Returns:
tuple[bool, typing.Annotated[numpy.typing.NDArray[numpy.float64], “[4, 4]”], typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 6]”]]