#include <ColorMapOptimizationJacobian.h>
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| ColorMapOptimizationJacobian () |
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void | ComputeJacobianAndResidualRigid (int row, Eigen::Vector6d &J_r, double &r, const geometry::TriangleMesh &mesh, const std::vector< double > &proxy_intensity, const std::shared_ptr< geometry::Image > &images_gray, const std::shared_ptr< geometry::Image > &images_dx, const std::shared_ptr< geometry::Image > &images_dy, const Eigen::Matrix4d &intrinsic, const Eigen::Matrix4d &extrinsic, const std::vector< int > &visiblity_image_to_vertex, const int image_boundary_margin) |
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void | ComputeJacobianAndResidualNonRigid (int row, Eigen::Vector14d &J_r, double &r, Eigen::Vector14i &pattern, const geometry::TriangleMesh &mesh, const std::vector< double > &proxy_intensity, const std::shared_ptr< geometry::Image > &images_gray, const std::shared_ptr< geometry::Image > &images_dx, const std::shared_ptr< geometry::Image > &images_dy, const ImageWarpingField &warping_fields, const ImageWarpingField &warping_fields_init, const Eigen::Matrix4d &intrinsic, const Eigen::Matrix4d &extrinsic, const std::vector< int > &visiblity_image_to_vertex, const int image_boundary_margin) |
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◆ ColorMapOptimizationJacobian()
open3d::color_map::ColorMapOptimizationJacobian::ColorMapOptimizationJacobian |
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◆ ComputeJacobianAndResidualNonRigid()
void open3d::color_map::ColorMapOptimizationJacobian::ComputeJacobianAndResidualNonRigid |
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int |
row, |
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Eigen::Vector14d & |
J_r, |
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double & |
r, |
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Eigen::Vector14i & |
pattern, |
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const geometry::TriangleMesh & |
mesh, |
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const std::vector< double > & |
proxy_intensity, |
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const std::shared_ptr< geometry::Image > & |
images_gray, |
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const std::shared_ptr< geometry::Image > & |
images_dx, |
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const std::shared_ptr< geometry::Image > & |
images_dy, |
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const ImageWarpingField & |
warping_fields, |
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const ImageWarpingField & |
warping_fields_init, |
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const Eigen::Matrix4d & |
intrinsic, |
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const Eigen::Matrix4d & |
extrinsic, |
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const std::vector< int > & |
visiblity_image_to_vertex, |
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const int |
image_boundary_margin |
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Function to compute i-th row of J and r The vector form of J_r is basically 14x1 matrix. This function can take additional matrix multiplication pattern to avoid full matrix multiplication
◆ ComputeJacobianAndResidualRigid()
void open3d::color_map::ColorMapOptimizationJacobian::ComputeJacobianAndResidualRigid |
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int |
row, |
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Eigen::Vector6d & |
J_r, |
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double & |
r, |
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const geometry::TriangleMesh & |
mesh, |
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const std::vector< double > & |
proxy_intensity, |
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const std::shared_ptr< geometry::Image > & |
images_gray, |
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const std::shared_ptr< geometry::Image > & |
images_dx, |
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const std::shared_ptr< geometry::Image > & |
images_dy, |
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const Eigen::Matrix4d & |
intrinsic, |
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const Eigen::Matrix4d & |
extrinsic, |
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const std::vector< int > & |
visiblity_image_to_vertex, |
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const int |
image_boundary_margin |
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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.
The documentation for this class was generated from the following files: