open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm Class Reference

Class to compute Jacobian using color term. More...

#include <RGBDOdometryJacobian.h>

Inheritance diagram for open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm:

Public Member Functions
	RGBDOdometryJacobianFromColorTerm ()
	Default Constructor.
	~RGBDOdometryJacobianFromColorTerm () override
void	ComputeJacobianAndResidual (int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > &J_r, std::vector< double > &r, std::vector< double > &w, const geometry::RGBDImage &source, const geometry::RGBDImage &target, const geometry::Image &source_xyz, const geometry::RGBDImage &target_dx, const geometry::RGBDImage &target_dy, const Eigen::Matrix3d &intrinsic, const Eigen::Matrix4d &extrinsic, const CorrespondenceSetPixelWise &corresps) const override
	Parameterized Constructor.
Public Member Functions inherited from open3d::pipelines::odometry::RGBDOdometryJacobian
	RGBDOdometryJacobian ()
	Default Constructor.
virtual	~RGBDOdometryJacobian ()

Detailed Description

Class to compute Jacobian using color term.

Energy: (I_p-I_q)^2 reference: F. Steinbrucker, J. Sturm, and D. Cremers. Real-time visual odometry from dense RGB-D images. In ICCV Workshops, 2011.

Constructor & Destructor Documentation

RGBDOdometryJacobianFromColorTerm()

open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::RGBDOdometryJacobianFromColorTerm ( )

inline

Default Constructor.

~RGBDOdometryJacobianFromColorTerm()

open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::~RGBDOdometryJacobianFromColorTerm ( )

inlineoverride

Member Function Documentation

ComputeJacobianAndResidual()

void open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::ComputeJacobianAndResidual ( int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > & J_r, std::vector< double > & r, std::vector< double > & w, const geometry::RGBDImage & source, const geometry::RGBDImage & target, const geometry::Image & source_xyz, const geometry::RGBDImage & target_dx, const geometry::RGBDImage & target_dy, const Eigen::Matrix3d & intrinsic, const Eigen::Matrix4d & extrinsic, const CorrespondenceSetPixelWise & corresps ) const

overridevirtual

Parameterized Constructor.

Implements open3d::pipelines::odometry::RGBDOdometryJacobian.

---

The documentation for this class was generated from the following files:

• cpp/open3d/pipelines/odometry/RGBDOdometryJacobian.h
• cpp/open3d/pipelines/odometry/RGBDOdometryJacobian.cpp