RGBDOdometryImpl.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
// Private header. Do not include in Open3d.h.
#pragma once
 
#include "open3d/core/Tensor.h"
 
namespace open3d {
namespace t {
namespace pipelines {
namespace kernel {
namespace odometry {
 
void ComputeOdometryResultPointToPlaneCPU(
        const core::Tensor& source_vertex_map,
        const core::Tensor& target_vertex_map,
        const core::Tensor& source_normal_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float depth_huber_delta);
 
void ComputeOdometryResultIntensityCPU(
        const core::Tensor& source_depth,
        const core::Tensor& target_depth,
        const core::Tensor& source_intensity,
        const core::Tensor& target_intensity,
        const core::Tensor& target_intensity_dx,
        const core::Tensor& target_intensity_dy,
        const core::Tensor& source_vertex_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float intensity_huber_delta);
 
void ComputeOdometryResultHybridCPU(const core::Tensor& source_depth,
                                    const core::Tensor& target_depth,
                                    const core::Tensor& source_intensity,
                                    const core::Tensor& target_intensity,
                                    const core::Tensor& target_depth_dx,
                                    const core::Tensor& target_depth_dy,
                                    const core::Tensor& target_intensity_dx,
                                    const core::Tensor& target_intensity_dy,
                                    const core::Tensor& source_vertex_map,
                                    const core::Tensor& intrinsics,
                                    const core::Tensor& init_source_to_target,
                                    core::Tensor& delta,
                                    float& inlier_residual,
                                    int& inlier_count,
                                    float depth_outlier_trunc,
                                    const float depth_huber_delta,
                                    const float intensity_huber_delta);
 
void ComputeOdometryInformationMatrixCPU(const core::Tensor& source_depth,
                                         const core::Tensor& target_depth,
                                         const core::Tensor& intrinsic,
                                         const core::Tensor& source_to_target,
                                         const float depth_outlier_trunc,
                                         core::Tensor& information);
 
#ifdef BUILD_CUDA_MODULE
 
void ComputeOdometryResultPointToPlaneCUDA(
        const core::Tensor& source_vertex_map,
        const core::Tensor& target_vertex_map,
        const core::Tensor& source_normal_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float depth_huber_delta);
 
void ComputeOdometryResultIntensityCUDA(
        const core::Tensor& source_depth,
        const core::Tensor& target_depth,
        const core::Tensor& source_intensity,
        const core::Tensor& target_intensity,
        const core::Tensor& target_intensity_dx,
        const core::Tensor& target_intensity_dy,
        const core::Tensor& source_vertex_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float intensity_huber_delta);
 
void ComputeOdometryResultHybridCUDA(const core::Tensor& source_depth,
                                     const core::Tensor& target_depth,
                                     const core::Tensor& source_intensity,
                                     const core::Tensor& target_intensity,
                                     const core::Tensor& target_depth_dx,
                                     const core::Tensor& target_depth_dy,
                                     const core::Tensor& target_intensity_dx,
                                     const core::Tensor& target_intensity_dy,
                                     const core::Tensor& source_vertex_map,
                                     const core::Tensor& intrinsics,
                                     const core::Tensor& init_source_to_target,
                                     core::Tensor& delta,
                                     float& inlier_residual,
                                     int& inlier_count,
                                     const float depth_outlier_trunc,
                                     const float depth_huber_delta,
                                     const float intensity_huber_delta);
 
void ComputeOdometryInformationMatrixCUDA(const core::Tensor& source_depth,
                                          const core::Tensor& target_depth,
                                          const core::Tensor& intrinsic,
                                          const core::Tensor& source_to_target,
                                          const float square_dist_thr,
                                          core::Tensor& information);
#endif
 
#ifdef BUILD_SYCL_MODULE
void ComputeOdometryResultPointToPlaneSYCL(
        const core::Tensor& source_vertex_map,
        const core::Tensor& target_vertex_map,
        const core::Tensor& target_normal_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float depth_huber_delta);
 
void ComputeOdometryResultIntensitySYCL(
        const core::Tensor& source_depth,
        const core::Tensor& target_depth,
        const core::Tensor& source_intensity,
        const core::Tensor& target_intensity,
        const core::Tensor& target_intensity_dx,
        const core::Tensor& target_intensity_dy,
        const core::Tensor& source_vertex_map,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target,
        core::Tensor& delta,
        float& inlier_residual,
        int& inlier_count,
        const float depth_outlier_trunc,
        const float intensity_huber_delta);
 
void ComputeOdometryResultHybridSYCL(const core::Tensor& source_depth,
                                     const core::Tensor& target_depth,
                                     const core::Tensor& source_intensity,
                                     const core::Tensor& target_intensity,
                                     const core::Tensor& target_depth_dx,
                                     const core::Tensor& target_depth_dy,
                                     const core::Tensor& target_intensity_dx,
                                     const core::Tensor& target_intensity_dy,
                                     const core::Tensor& source_vertex_map,
                                     const core::Tensor& intrinsics,
                                     const core::Tensor& init_source_to_target,
                                     core::Tensor& delta,
                                     float& inlier_residual,
                                     int& inlier_count,
                                     const float depth_outlier_trunc,
                                     const float depth_huber_delta,
                                     const float intensity_huber_delta);
 
void ComputeOdometryInformationMatrixSYCL(const core::Tensor& source_depth,
                                          const core::Tensor& target_depth,
                                          const core::Tensor& intrinsic,
                                          const core::Tensor& source_to_target,
                                          const float square_dist_thr,
                                          core::Tensor& information);
#endif
 
}  // namespace odometry
}  // namespace kernel
}  // namespace pipelines
}  // namespace t
}  // namespace open3d