cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase > Class Template Reference

Inheritance diagram for cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase >:

Collaboration diagram for cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase >:

Public Member Functions
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
Public Member Functions inherited from cloudViewer::pipelines::odometry::RGBDOdometryJacobian
	RGBDOdometryJacobian ()
	Default Constructor. More...
virtual	~RGBDOdometryJacobian ()

Detailed Description

template<class RGBDOdometryJacobianBase = RGBDOdometryJacobian>
class cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase >

Definition at line 23 of file odometry.cpp.

Member Function Documentation

ComputeJacobianAndResidual()

template<class RGBDOdometryJacobianBase = RGBDOdometryJacobian>

void cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase >::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

inlineoverridevirtual

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 cloudViewer::pipelines::odometry::RGBDOdometryJacobian.

Definition at line 26 of file odometry.cpp.

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

• /root/ACloudViewer/libs/Python/pybind/pipelines/odometry/odometry.cpp