Function estimate_rgbd_odometry 

pub fn estimate_rgbd_odometry<T>(
    previous_depth: ImageView<'_, T, 1>,
    correspondences: &[PointCorrespondence2],
    camera: CameraMatrix3,
    options: RgbdOdometryOptions,
) -> Result<RgbdOdometryEstimate, VisionError>
where
    T: PixelComponent,

Estimates metric motion from source depth and source-to-target pixel tracks.