Class to compute Jacobian using hybrid term. More...

#include <RGBDOdometryJacobian.h>

Inheritance diagram for cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm:

Collaboration diagram for cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm:

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

	~RGBDOdometryJacobianFromHybridTerm () override

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
	Parameterized Constructor. More...

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

virtual	~RGBDOdometryJacobian ()

Detailed Description

Class to compute Jacobian using hybrid term.

Energy: $(I_p - I_q)^2 + \lambda(D_p - (D_q)')^2$ , where $ I_p $ denotes the intensity at pixel p in the source, $ I_q $ denotes the intensity at pixel q in the target. $ D_p $ denotes the depth pixel p in the source, $ D_q $ denotes the depth pixel q in the target. q is obtained by transforming p with extrinsic then projecting with intrinsics. Reference: J. Park, Q.Y. Zhou, and V. Koltun, Colored Point Cloud Registration Revisited, ICCV, 2017.s

Definition at line 109 of file RGBDOdometryJacobian.h.

Constructor & Destructor Documentation

◆ RGBDOdometryJacobianFromHybridTerm()

cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::RGBDOdometryJacobianFromHybridTerm ( )

inline

Default Constructor.

Definition at line 112 of file RGBDOdometryJacobian.h.

◆ ~RGBDOdometryJacobianFromHybridTerm()

cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::~RGBDOdometryJacobianFromHybridTerm ( )

inlineoverride

Definition at line 113 of file RGBDOdometryJacobian.h.

Member Function Documentation

◆ ComputeJacobianAndResidual()

void cloudViewer::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm::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

overridevirtual

Parameterized Constructor.

Implements cloudViewer::pipelines::odometry::RGBDOdometryJacobian.

Definition at line 74 of file RGBDOdometryJacobian.cpp.

References cloudViewer::geometry::RGBDImage::color_, cloudViewer::geometry::RGBDImage::depth_, and cloudViewer::geometry::Image::PointerAt().

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