Open3D (C++ API)
Public Member Functions
open3d::odometry::RGBDOdometryJacobianFromColorTerm Class Reference

#include <RGBDOdometryJacobian.h>

Inheritance diagram for open3d::odometry::RGBDOdometryJacobianFromColorTerm:
open3d::odometry::RGBDOdometryJacobian

Public Member Functions

 RGBDOdometryJacobianFromColorTerm ()
 
 ~RGBDOdometryJacobianFromColorTerm () 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
 
- Public Member Functions inherited from open3d::odometry::RGBDOdometryJacobian
 RGBDOdometryJacobian ()
 
virtual ~RGBDOdometryJacobian ()
 

Detailed Description

Class to compute Jacobian using color term Energy: (I_p-I_q)^2 reference: F. Steinbrucker, J. Sturm, and D. Cremers. Real-time visual odometry from dense RGB-D images. In ICCV Workshops, 2011.

Constructor & Destructor Documentation

◆ RGBDOdometryJacobianFromColorTerm()

open3d::odometry::RGBDOdometryJacobianFromColorTerm::RGBDOdometryJacobianFromColorTerm ( )
inline

◆ ~RGBDOdometryJacobianFromColorTerm()

open3d::odometry::RGBDOdometryJacobianFromColorTerm::~RGBDOdometryJacobianFromColorTerm ( )
inlineoverride

Member Function Documentation

◆ ComputeJacobianAndResidual()

void open3d::odometry::RGBDOdometryJacobianFromColorTerm::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
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.


The documentation for this class was generated from the following files: