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

#include <RGBDOdometryJacobian.h>

Inheritance diagram for open3d::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm:

Public Member Functions
	RGBDOdometryJacobianFromHybridTerm ()
	Default Constructor.
	~RGBDOdometryJacobianFromHybridTerm () 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 hybrid term.

Energy: \((I_p - I_q)^2 + \lambda(D_p - (D_q)')^2\), where \( I_p \) denotes the intensity at pixel p in the source, \( I_q \) denotes the intensity at pixel q in the target. \( D_p \) denotes the depth pixel p in the source, \( D_q \) denotes the depth pixel q in the target. q is obtained by transforming p with extrinsic then projecting with intrinsics. Reference: J. Park, Q.Y. Zhou, and V. Koltun, Colored Point Cloud Registration Revisited, ICCV, 2017.

Constructor & Destructor Documentation

◆ RGBDOdometryJacobianFromHybridTerm()

open3d::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::RGBDOdometryJacobianFromHybridTerm ( )

inline

Default Constructor.

◆ ~RGBDOdometryJacobianFromHybridTerm()

open3d::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::~RGBDOdometryJacobianFromHybridTerm ( )

inlineoverride

Member Function Documentation

◆ ComputeJacobianAndResidual()

void open3d::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::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: