#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 ()

Public Attributes
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.

Definition at line 20 of file OdometryOption.h.

Constructor & Destructor Documentation

◆ OdometryOption()

cloudViewer::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.

Definition at line 32 of file OdometryOption.h.

◆ ~OdometryOption()

cloudViewer::pipelines::odometry::OdometryOption::~OdometryOption ( )

inline

Definition at line 44 of file OdometryOption.h.

Member Data Documentation

◆ iteration_number_per_pyramid_level_

std::vector<int> cloudViewer::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.

Definition at line 49 of file OdometryOption.h.

Referenced by cloudViewer::pipelines::odometry::ComputeMultiscale(), and cloudViewer::pipelines::odometry::pybind_odometry_classes().

◆ max_depth_

double cloudViewer::pipelines::odometry::OdometryOption::max_depth_

Pixels that has larger than specified depth values are ignored.

Definition at line 58 of file OdometryOption.h.

Referenced by cloudViewer::pipelines::odometry::PreprocessDepth(), and cloudViewer::pipelines::odometry::pybind_odometry_classes().

◆ max_depth_diff_

double cloudViewer::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.

Definition at line 54 of file OdometryOption.h.

Referenced by cloudViewer::pipelines::odometry::ComputeCorrespondence(), and cloudViewer::pipelines::odometry::pybind_odometry_classes().

◆ min_depth_

double cloudViewer::pipelines::odometry::OdometryOption::min_depth_

Pixels that has larger than specified depth values are ignored.

Definition at line 56 of file OdometryOption.h.

Referenced by cloudViewer::pipelines::odometry::pybind_odometry_classes().

The documentation for this class was generated from the following file:

/root/ACloudViewer/libs/cloudViewer/pipelines/odometry/OdometryOption.h

Public Member Functions

Public Attributes