50 typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator>
69 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
70 std::vector<double> &r,
71 std::vector<double> &w,
77 const Eigen::Matrix3d &intrinsic,
78 const Eigen::Matrix4d &extrinsic,
101 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
102 std::vector<double> &r,
103 std::vector<double> &w,
109 const Eigen::Matrix3d &intrinsic,
110 const Eigen::Matrix4d &extrinsic,
137 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
138 std::vector<double> &r,
139 std::vector<double> &w,
145 const Eigen::Matrix3d &intrinsic,
146 const Eigen::Matrix4d &extrinsic,
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:53
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
Class to compute Jacobian using color term.
Definition: RGBDOdometryJacobian.h:91
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.
Definition: RGBDOdometryJacobian.cpp:44
RGBDOdometryJacobianFromColorTerm()
Default Constructor.
Definition: RGBDOdometryJacobian.h:94
~RGBDOdometryJacobianFromColorTerm() override
Definition: RGBDOdometryJacobian.h:95
Class to compute Jacobian using hybrid term.
Definition: RGBDOdometryJacobian.h:127
~RGBDOdometryJacobianFromHybridTerm() override
Definition: RGBDOdometryJacobian.h:131
RGBDOdometryJacobianFromHybridTerm()
Default Constructor.
Definition: RGBDOdometryJacobian.h:130
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.
Definition: RGBDOdometryJacobian.cpp:90
Base class that computes Jacobian from two RGB-D images.
Definition: RGBDOdometryJacobian.h:56
virtual ~RGBDOdometryJacobian()
Definition: RGBDOdometryJacobian.h:60
virtual 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 =0
RGBDOdometryJacobian()
Default Constructor.
Definition: RGBDOdometryJacobian.h:59
std::vector< Eigen::Vector4i, utility::Vector4i_allocator > CorrespondenceSetPixelWise
Definition: RGBDOdometryJacobian.h:51
Definition: PinholeCameraIntrinsic.cpp:35