Open3D (C++ API)
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#include <RGBDOdometryJacobian.h>
Public Member Functions | |
RGBDOdometryJacobianFromHybridTerm () | |
~RGBDOdometryJacobianFromHybridTerm () override | |
void | ComputeJacobianAndResidual (int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > &J_r, std::vector< double > &r, 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 |
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RGBDOdometryJacobian () | |
virtual | ~RGBDOdometryJacobian () |
Class to compute Jacobian using hybrid term Energy: (I_p-I_q)^2 + lambda(D_p-(D_q)')^2 reference: J. Park, Q.-Y. Zhou, and V. Koltun anonymous submission
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inlineoverride |
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overridevirtual |
Function to compute i-th row of J and r the vector form of J_r is basically 6x1 matrix, but it can be easily extendable to 6xn matrix. See RGBDOdometryJacobianFromHybridTerm for this case.
Implements open3d::odometry::RGBDOdometryJacobian.