open3d::pipelines::odometry Namespace Reference

Data Structures
class	OdometryOption
class	RGBDOdometryJacobian
	Base class that computes Jacobian from two RGB-D images. More...
class	RGBDOdometryJacobianFromColorTerm
	Class to compute Jacobian using color term. More...
class	RGBDOdometryJacobianFromHybridTerm
	Class to compute Jacobian using hybrid term. More...

Typedefs
typedef std::vector< Eigen::Vector4i, utility::Vector4i_allocator >	CorrespondenceSetPixelWise

Functions
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. More...
std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d >	ComputeRGBDOdometry (const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic=camera::PinholeCameraIntrinsic(), const Eigen::Matrix4d &odo_init=Eigen::Matrix4d::Identity(), const RGBDOdometryJacobian &jacobian_method=RGBDOdometryJacobianFromHybridTerm(), const OdometryOption &option=OdometryOption())
	Function to estimate 6D rigid motion from two RGBD image pairs. More...

Typedef Documentation

CorrespondenceSetPixelWise

typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator> open3d::pipelines::odometry::CorrespondenceSetPixelWise

Function Documentation

ComputeCorrespondence()

CorrespondenceSetPixelWise open3d::pipelines::odometry::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.

Parameters

intrinsic_matrix	Camera intrinsic parameters.
extrinsic	Estimation of transform from source to target.
depth_s	Source depth image.
depth_t	Target depth image.
option	Odometry hyper parameters.

Returns

A vector of u_s, v_s, u_t, v_t which maps the 2d coordinates of source to target.

ComputeRGBDOdometry()

std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > open3d::pipelines::odometry::ComputeRGBDOdometry	(	const geometry::RGBDImage &	source,
		const geometry::RGBDImage &	target,
		const camera::PinholeCameraIntrinsic &	pinhole_camera_intrinsic = camera::PinholeCameraIntrinsic(),
		const Eigen::Matrix4d &	odo_init = Eigen::Matrix4d::Identity(),
		const RGBDOdometryJacobian &	jacobian_method = RGBDOdometryJacobianFromHybridTerm(),
		const OdometryOption &	option = OdometryOption()
	)

Function to estimate 6D rigid motion from two RGBD image pairs.

Parameters

source	Source RGBD image.
target	Target RGBD image.
pinhole_camera_intrinsic	Camera intrinsic parameters.
odo_init	Initial 4x4 motion matrix estimation.
jacobian_method	The odometry Jacobian method to use.
option	Odometry hyper parameters.

Returns

is_success, 4x4 motion matrix, 6x6 information matrix.