std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > ComputeRGBDOdometry(const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, const Eigen::Matrix4d &odo_init, const RGBDOdometryJacobian &jacobian_method, const OdometryOption &option)
Definition: Odometry.cpp:506