Base class that computes Jacobian from two RGB-D images. More...

#include <RGBDOdometryJacobian.h>

Inheritance diagram for cloudViewer::pipelines::odometry::RGBDOdometryJacobian:

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Public Member Functions
	RGBDOdometryJacobian ()
	Default Constructor. More...

virtual	~RGBDOdometryJacobian ()

virtual 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 =0

Detailed Description

Base class that computes Jacobian from two RGB-D images.

Definition at line 38 of file RGBDOdometryJacobian.h.

Constructor & Destructor Documentation

◆ RGBDOdometryJacobian()

cloudViewer::pipelines::odometry::RGBDOdometryJacobian::RGBDOdometryJacobian ( )

inline

Default Constructor.

Definition at line 41 of file RGBDOdometryJacobian.h.

◆ ~RGBDOdometryJacobian()

virtual cloudViewer::pipelines::odometry::RGBDOdometryJacobian::~RGBDOdometryJacobian ( )

inlinevirtual

Definition at line 42 of file RGBDOdometryJacobian.h.

Member Function Documentation

◆ ComputeJacobianAndResidual()

virtual void cloudViewer::pipelines::odometry::RGBDOdometryJacobian::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

pure virtual

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.

Implemented in cloudViewer::pipelines::odometry::PyRGBDOdometryJacobian< RGBDOdometryJacobianBase >, cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm, and cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromColorTerm.

Referenced by cloudViewer::pipelines::odometry::DoSingleIteration().

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