cloudViewer.pipelines.odometry.compute_rgbd_odometry#
- cloudViewer.pipelines.odometry.compute_rgbd_odometry(rgbd_source, rgbd_target, pinhole_camera_intrinsic=camera::PinholeCameraIntrinsic with width = -1 and height = -1. Access intrinsics with intrinsic_matrix., odo_init, jacobian=RGBDOdometryJacobianFromHybridTerm, option=OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] max_depth_diff = 0.030000 min_depth = 0.000000 max_depth = 4.000000)#
Function to estimate 6D rigid motion from two RGBD image pairs. Output: (is_success, 4x4 motion matrix, 6x6 information matrix).
- Parameters:
rgbd_source (cloudViewer.geometry.RGBDImage) – Source RGBD image.
rgbd_target (cloudViewer.geometry.RGBDImage) – Target RGBD image.
pinhole_camera_intrinsic (cloudViewer.camera.PinholeCameraIntrinsic, optional, default=camera::PinholeCameraIntrinsic with width = -1 and height = -1. Access intrinsics with intrinsic_matrix.) – Camera intrinsic parameters
odo_init (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Initial 4x4 motion matrix estimation.
jacobian (cloudViewer.pipelines.odometry.RGBDOdometryJacobian, optional, default=RGBDOdometryJacobianFromHybridTerm) – The odometry Jacobian method to use. Can be
RGBDOdometryJacobianFromHybridTerm()orRGBDOdometryJacobianFromColorTerm().option (cloudViewer.pipelines.odometry.OdometryOption, optional, default=OdometryOption class. iteration_number_per_pyramid_level = [ 20, 10, 5, ] max_depth_diff = 0.030000 min_depth = 0.000000 max_depth = 4.000000) – Odometry hyper parameteres.
- Returns:
tuple[bool, typing.Annotated[numpy.typing.NDArray[numpy.float64], “[4, 4]”], typing.Annotated[numpy.typing.NDArray[numpy.float64], “[6, 6]”]]