Open3D (C++ API)
0.18.0+5c982c7
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Class to compute Jacobian using hybrid term. More...
#include <RGBDOdometryJacobian.h>
Public Member Functions | |
RGBDOdometryJacobianFromHybridTerm () | |
Default Constructor. More... | |
~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. More... | |
Public Member Functions inherited from open3d::pipelines::odometry::RGBDOdometryJacobian | |
RGBDOdometryJacobian () | |
Default Constructor. More... | |
virtual | ~RGBDOdometryJacobian () |
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.
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inline |
Default Constructor.
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inlineoverride |
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overridevirtual |
Parameterized Constructor.
Implements open3d::pipelines::odometry::RGBDOdometryJacobian.