Function estimate_dense_rgbd_odometry 

pub fn estimate_dense_rgbd_odometry(
    source: DenseRgbdFrame<'_>,
    target: DenseRgbdFrame<'_>,
    camera: CameraMatrix3,
    initial: AbsolutePose,
    options: &DenseRgbdOdometryOptions,
) -> VisionResult<DenseRgbdOdometryEstimate>

Estimates dense motion from both registered frames and an explicit initial pose.

Uses a centered Gaussian pyramid, bilinear target warps and analytic photometric/depth derivatives with left rigid updates. Original inputs are borrowed; owned CPU pyramids and fixed ordered row-tile reductions are bounded. Singular systems, insufficient overlap and invalid updates return errors.