initialize a callback-based context

@OPTIMIZE: provide an option that always forces left-predict or paeth predict

API to be called from outside the class Input : Two frames to be aligned Result : estimated pose

Creates the pose from the rotation angles and translation vector obtained after solving the linear system Rotation matrix Approximation as mentioned i

depth (ir) camera info

Creates a linear system of equations fulfilling the constraints of point-to-plane error metric Solves the created linear system for the camera pose