Open3D (C++ API)
ColorMapOptimizationJacobian.h
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26 
27 #pragma once
28 
29 #include <memory>
30 #include <vector>
31 
33 #include "Open3D/Utility/Eigen.h"
34 
35 namespace open3d {
36 
37 namespace geometry {
38 class Image;
39 }
40 namespace geometry {
41 class TriangleMesh;
42 }
43 
44 namespace color_map {
45 
46 class ImageWarpingField;
47 
49 public:
51 
52 public:
58  int row,
59  Eigen::Vector6d& J_r,
60  double& r,
61  const geometry::TriangleMesh& mesh,
62  const std::vector<double>& proxy_intensity,
63  const std::shared_ptr<geometry::Image>& images_gray,
64  const std::shared_ptr<geometry::Image>& images_dx,
65  const std::shared_ptr<geometry::Image>& images_dy,
66  const Eigen::Matrix4d& intrinsic,
67  const Eigen::Matrix4d& extrinsic,
68  const std::vector<int>& visiblity_image_to_vertex,
69  const int image_boundary_margin);
70 
76  int row,
77  Eigen::Vector14d& J_r,
78  double& r,
79  Eigen::Vector14i& pattern,
80  const geometry::TriangleMesh& mesh,
81  const std::vector<double>& proxy_intensity,
82  const std::shared_ptr<geometry::Image>& images_gray,
83  const std::shared_ptr<geometry::Image>& images_dx,
84  const std::shared_ptr<geometry::Image>& images_dy,
85  const ImageWarpingField& warping_fields,
86  const ImageWarpingField& warping_fields_init,
87  const Eigen::Matrix4d& intrinsic,
88  const Eigen::Matrix4d& extrinsic,
89  const std::vector<int>& visiblity_image_to_vertex,
90  const int image_boundary_margin);
91 };
92 } // namespace color_map
93 } // namespace open3d
Definition: ColorMapOptimizationJacobian.h:48
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)
Definition: ColorMapOptimizationJacobian.cpp:77
ColorMapOptimizationJacobian()
Definition: ColorMapOptimizationJacobian.h:50
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)
Definition: ColorMapOptimizationJacobian.cpp:36
Definition: ImageWarpingField.h:34
Definition: TriangleMesh.h:46
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Eigen.h:38
Eigen::Matrix< double, 14, 1 > Vector14d
Definition: EigenHelperForNonRigidOptimization.h:36
Eigen::Matrix< int, 14, 1 > Vector14i
Definition: EigenHelperForNonRigidOptimization.h:37
Definition: PinholeCameraIntrinsic.cpp:34