cloudViewer::pipelines::odometry Namespace Reference

Classes
class	OdometryOption
class	RGBDOdometryJacobian
	Base class that computes Jacobian from two RGB-D images. More...
class	RGBDOdometryJacobianFromColorTerm
	Class to compute Jacobian using color term. More...
class	RGBDOdometryJacobianFromHybridTerm
	Class to compute Jacobian using hybrid term. More...
class	PyRGBDOdometryJacobian

Typedefs
typedef std::vector< Eigen::Vector4i, utility::Vector4i_allocator >	CorrespondenceSetPixelWise

Functions
static std::tuple< geometry::Image, geometry::Image >	InitializeCorrespondenceMap (int width, int height)
static void	AddElementToCorrespondenceMap (geometry::Image &correspondence_map, geometry::Image &depth_buffer, int u_s, int v_s, int u_t, int v_t, float transformed_d_t)
static void	MergeCorrespondenceMaps (geometry::Image &correspondence_map, geometry::Image &depth_buffer, geometry::Image &correspondence_map_part, geometry::Image &depth_buffer_part)
static int	CountCorrespondence (const geometry::Image &correspondence_map)
static CorrespondenceSetPixelWise	ComputeCorrespondence (const Eigen::Matrix3d intrinsic_matrix, const Eigen::Matrix4d &extrinsic, const geometry::Image &depth_s, const geometry::Image &depth_t, const OdometryOption &option)
static std::shared_ptr< geometry::Image >	ConvertDepthImageToXYZImage (const geometry::Image &depth, const Eigen::Matrix3d &intrinsic_matrix)
static std::vector< Eigen::Matrix3d >	CreateCameraMatrixPyramid (const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, int levels)
static Eigen::Matrix6d	CreateInformationMatrix (const Eigen::Matrix4d &extrinsic, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, const geometry::Image &depth_s, const geometry::Image &depth_t, const OdometryOption &option)
static void	NormalizeIntensity (geometry::Image &image_s, geometry::Image &image_t, const CorrespondenceSetPixelWise &correspondence)
static std::shared_ptr< geometry::RGBDImage >	PackRGBDImage (const geometry::Image &color, const geometry::Image &depth)
static std::shared_ptr< geometry::Image >	PreprocessDepth (const geometry::Image &depth_orig, const OdometryOption &option)
static bool	CheckImagePair (const geometry::Image &image_s, const geometry::Image &image_t)
static bool	IsColorImageRGB (const geometry::Image &image)
static bool	CheckRGBDImagePair (const geometry::RGBDImage &source, const geometry::RGBDImage &target)
static std::tuple< std::shared_ptr< geometry::RGBDImage >, std::shared_ptr< geometry::RGBDImage > >	InitializeRGBDOdometry (const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, const Eigen::Matrix4d &odo_init, const OdometryOption &option)
static std::tuple< bool, Eigen::Matrix4d >	DoSingleIteration (int iter, int level, 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_initial, const RGBDOdometryJacobian &jacobian_method, const OdometryOption &option)
static std::tuple< bool, Eigen::Matrix4d >	ComputeMultiscale (const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic, const Eigen::Matrix4d &extrinsic_initial, const RGBDOdometryJacobian &jacobian_method, const OdometryOption &option)
std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d >	ComputeRGBDOdometry (const geometry::RGBDImage &source, const geometry::RGBDImage &target, const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic=camera::PinholeCameraIntrinsic(), const Eigen::Matrix4d &odo_init=Eigen::Matrix4d::Identity(), const RGBDOdometryJacobian &jacobian_method=RGBDOdometryJacobianFromHybridTerm(), const OdometryOption &option=OdometryOption())
	Function to estimate 6D rigid motion from two RGBD image pairs. More...
void	pybind_odometry_classes (py::module &m)
void	pybind_odometry_methods (py::module &m)
void	pybind_odometry (py::module &m)

Typedef Documentation

CorrespondenceSetPixelWise

typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator> cloudViewer::pipelines::odometry::CorrespondenceSetPixelWise

Definition at line 33 of file RGBDOdometryJacobian.h.

Function Documentation

AddElementToCorrespondenceMap()

static void cloudViewer::pipelines::odometry::AddElementToCorrespondenceMap ( geometry::Image &  correspondence_map, geometry::Image &  depth_buffer, int  u_s, int  v_s, int  u_t, int  v_t, float  transformed_d_t  )

inlinestatic

Definition at line 40 of file Odometry.cpp.

References cloudViewer::geometry::Image::PointerAt().

Referenced by ComputeCorrespondence(), and MergeCorrespondenceMaps().

CheckImagePair()

static bool cloudViewer::pipelines::odometry::CheckImagePair ( const geometry::Image &  image_s, const geometry::Image &  image_t  )

inlinestatic

Definition at line 315 of file Odometry.cpp.

References cloudViewer::geometry::Image::height_, and cloudViewer::geometry::Image::width_.

Referenced by CheckRGBDImagePair().

CheckRGBDImagePair()

static bool cloudViewer::pipelines::odometry::CheckRGBDImagePair ( const geometry::RGBDImage &  source, const geometry::RGBDImage &  target  )

inlinestatic

Definition at line 325 of file Odometry.cpp.

References cloudViewer::geometry::Image::bytes_per_channel_, CheckImagePair(), cloudViewer::geometry::RGBDImage::color_, cloudViewer::geometry::RGBDImage::depth_, IsColorImageRGB(), and cloudViewer::geometry::Image::num_of_channels_.

Referenced by ComputeRGBDOdometry().

ComputeCorrespondence()

static CorrespondenceSetPixelWise cloudViewer::pipelines::odometry::ComputeCorrespondence ( const Eigen::Matrix3d  intrinsic_matrix, const Eigen::Matrix4d &  extrinsic, const geometry::Image &  depth_s, const geometry::Image &  depth_t, const OdometryOption &  option  )

static

Definition at line 100 of file Odometry.cpp.

References abs(), AddElementToCorrespondenceMap(), CountCorrespondence(), cloudViewer::geometry::Image::height_, InitializeCorrespondenceMap(), cloudViewer::pipelines::odometry::OdometryOption::max_depth_diff_, MergeCorrespondenceMaps(), cloudViewer::geometry::Image::PointerAt(), and cloudViewer::geometry::Image::width_.

Referenced by CreateInformationMatrix(), DoSingleIteration(), and InitializeRGBDOdometry().

ComputeMultiscale()

static std::tuple<bool, Eigen::Matrix4d> cloudViewer::pipelines::odometry::ComputeMultiscale ( const geometry::RGBDImage &  source, const geometry::RGBDImage &  target, const camera::PinholeCameraIntrinsic &  pinhole_camera_intrinsic, const Eigen::Matrix4d &  extrinsic_initial, const RGBDOdometryJacobian &  jacobian_method, const OdometryOption &  option  )

static

Definition at line 443 of file Odometry.cpp.

References ConvertDepthImageToXYZImage(), CreateCameraMatrixPyramid(), cloudViewer::geometry::RGBDImage::CreatePyramid(), DoSingleIteration(), cloudViewer::geometry::RGBDImage::FilterPyramid(), cloudViewer::pipelines::odometry::OdometryOption::iteration_number_per_pyramid_level_, LogWarning, PackRGBDImage(), cloudViewer::geometry::Image::Sobel3Dx, and cloudViewer::geometry::Image::Sobel3Dy.

Referenced by ComputeRGBDOdometry().

ComputeRGBDOdometry()

std::tuple< bool, Eigen::Matrix4d, Eigen::Matrix6d > cloudViewer::pipelines::odometry::ComputeRGBDOdometry	(	const geometry::RGBDImage &	source,
		const geometry::RGBDImage &	target,
		const camera::PinholeCameraIntrinsic &	pinhole_camera_intrinsic = camera::PinholeCameraIntrinsic(),
		const Eigen::Matrix4d &	odo_init = Eigen::Matrix4d::Identity(),
		const RGBDOdometryJacobian &	jacobian_method = RGBDOdometryJacobianFromHybridTerm(),
		const OdometryOption &	option = OdometryOption()
	)

Function to estimate 6D rigid motion from two RGBD image pairs.

Parameters

source	Source RGBD image.
target	Target RGBD image.
pinhole_camera_intrinsic	Camera intrinsic parameters.
odo_init	Initial 4x4 motion matrix estimation.
jacobin_method	The odometry Jacobian method to use.
option	Odometry hyper parameteres.

Returns

is_success, 4x4 motion matrix, 6x6 information matrix.

Definition at line 501 of file Odometry.cpp.

References CheckRGBDImagePair(), ComputeMultiscale(), CreateInformationMatrix(), InitializeRGBDOdometry(), and LogWarning.

ConvertDepthImageToXYZImage()

static std::shared_ptr<geometry::Image> cloudViewer::pipelines::odometry::ConvertDepthImageToXYZImage ( const geometry::Image &  depth, const Eigen::Matrix3d &  intrinsic_matrix  )

static

Definition at line 175 of file Odometry.cpp.

References cloudViewer::geometry::Image::bytes_per_channel_, cloudViewer::geometry::Image::height_, LogError, cloudViewer::geometry::Image::num_of_channels_, cloudViewer::geometry::Image::PointerAt(), and cloudViewer::geometry::Image::width_.

Referenced by ComputeMultiscale(), and CreateInformationMatrix().

CountCorrespondence()

static int cloudViewer::pipelines::odometry::CountCorrespondence ( const geometry::Image &  correspondence_map )

static

Definition at line 86 of file Odometry.cpp.

References cloudViewer::geometry::Image::height_, cloudViewer::geometry::Image::PointerAt(), and cloudViewer::geometry::Image::width_.

Referenced by ComputeCorrespondence().

CreateCameraMatrixPyramid()

static std::vector<Eigen::Matrix3d> cloudViewer::pipelines::odometry::CreateCameraMatrixPyramid ( const camera::PinholeCameraIntrinsic &  pinhole_camera_intrinsic, int  levels  )

static

Definition at line 202 of file Odometry.cpp.

References cloudViewer::camera::PinholeCameraIntrinsic::intrinsic_matrix_.

Referenced by ComputeMultiscale().

CreateInformationMatrix()

static Eigen::Matrix6d cloudViewer::pipelines::odometry::CreateInformationMatrix ( const Eigen::Matrix4d &  extrinsic, const camera::PinholeCameraIntrinsic &  pinhole_camera_intrinsic, const geometry::Image &  depth_s, const geometry::Image &  depth_t, const OdometryOption &  option  )

static

Definition at line 219 of file Odometry.cpp.

References ComputeCorrespondence(), ConvertDepthImageToXYZImage(), and cloudViewer::camera::PinholeCameraIntrinsic::intrinsic_matrix_.

Referenced by ComputeRGBDOdometry().

DoSingleIteration()

static std::tuple<bool, Eigen::Matrix4d> cloudViewer::pipelines::odometry::DoSingleIteration ( int  iter, int  level, 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_initial, const RGBDOdometryJacobian &  jacobian_method, const OdometryOption &  option  )

static

Definition at line 398 of file Odometry.cpp.

References ComputeCorrespondence(), cloudViewer::pipelines::odometry::RGBDOdometryJacobian::ComputeJacobianAndResidual(), cloudViewer::geometry::RGBDImage::depth_, LogDebug, LogWarning, and cloudViewer::utility::SolveJacobianSystemAndObtainExtrinsicMatrix().

Referenced by ComputeMultiscale().

InitializeCorrespondenceMap()

static std::tuple<geometry::Image, geometry::Image> cloudViewer::pipelines::odometry::InitializeCorrespondenceMap ( int  width, int  height  )

static

Definition at line 23 of file Odometry.cpp.

References height, cloudViewer::geometry::Image::height_, cloudViewer::geometry::Image::PointerAt(), cloudViewer::geometry::Image::Prepare(), width, and cloudViewer::geometry::Image::width_.

Referenced by ComputeCorrespondence().

InitializeRGBDOdometry()

static std::tuple<std::shared_ptr<geometry::RGBDImage>, std::shared_ptr<geometry::RGBDImage> > cloudViewer::pipelines::odometry::InitializeRGBDOdometry ( const geometry::RGBDImage &  source, const geometry::RGBDImage &  target, const camera::PinholeCameraIntrinsic &  pinhole_camera_intrinsic, const Eigen::Matrix4d &  odo_init, const OdometryOption &  option  )

static

Definition at line 362 of file Odometry.cpp.

References cloudViewer::geometry::RGBDImage::color_, ComputeCorrespondence(), cloudViewer::geometry::Image::CreateFloatImage(), cloudViewer::geometry::RGBDImage::depth_, cloudViewer::geometry::Image::Gaussian3, cloudViewer::camera::PinholeCameraIntrinsic::intrinsic_matrix_, IsColorImageRGB(), NormalizeIntensity(), PackRGBDImage(), and PreprocessDepth().

Referenced by ComputeRGBDOdometry().

IsColorImageRGB()

static bool cloudViewer::pipelines::odometry::IsColorImageRGB ( const geometry::Image &  image )

inlinestatic

Definition at line 321 of file Odometry.cpp.

References image.

Referenced by CheckRGBDImagePair(), and InitializeRGBDOdometry().

MergeCorrespondenceMaps()

static void cloudViewer::pipelines::odometry::MergeCorrespondenceMaps ( geometry::Image &  correspondence_map, geometry::Image &  depth_buffer, geometry::Image &  correspondence_map_part, geometry::Image &  depth_buffer_part  )

static

Definition at line 67 of file Odometry.cpp.

References AddElementToCorrespondenceMap(), cloudViewer::geometry::Image::height_, cloudViewer::geometry::Image::PointerAt(), and cloudViewer::geometry::Image::width_.

Referenced by ComputeCorrespondence().

NormalizeIntensity()

static void cloudViewer::pipelines::odometry::NormalizeIntensity ( geometry::Image &  image_s, geometry::Image &  image_t, const CorrespondenceSetPixelWise &  correspondence  )

static

Definition at line 269 of file Odometry.cpp.

References cloudViewer::geometry::Image::height_, cloudViewer::geometry::Image::LinearTransform(), LogError, cloudViewer::geometry::Image::PointerAt(), and cloudViewer::geometry::Image::width_.

Referenced by InitializeRGBDOdometry().

PackRGBDImage()

static std::shared_ptr<geometry::RGBDImage> cloudViewer::pipelines::odometry::PackRGBDImage ( const geometry::Image &  color, const geometry::Image &  depth  )

inlinestatic

Definition at line 294 of file Odometry.cpp.

References color.

Referenced by ComputeMultiscale(), and InitializeRGBDOdometry().

PreprocessDepth()

static std::shared_ptr<geometry::Image> cloudViewer::pipelines::odometry::PreprocessDepth ( const geometry::Image &  depth_orig, const OdometryOption &  option  )

static

Definition at line 300 of file Odometry.cpp.

References cloudViewer::pipelines::odometry::OdometryOption::max_depth_, and cloudViewer::geometry::Image::PointerAt().

Referenced by InitializeRGBDOdometry().

pybind_odometry()

void cloudViewer::pipelines::odometry::pybind_odometry

(

py::module &

m

)

Definition at line 172 of file odometry.cpp.

Referenced by cloudViewer::pipelines::pybind_pipelines().

pybind_odometry_classes()

void cloudViewer::pipelines::odometry::pybind_odometry_classes

(

py::module &

m

)

Definition at line 45 of file odometry.cpp.

References cloudViewer::pipelines::odometry::OdometryOption::iteration_number_per_pyramid_level_, cloudViewer::pipelines::odometry::OdometryOption::max_depth_, cloudViewer::pipelines::odometry::OdometryOption::max_depth_diff_, cloudViewer::pipelines::odometry::OdometryOption::min_depth_, and patch::to_string().

pybind_odometry_methods()

void cloudViewer::pipelines::odometry::pybind_odometry_methods

(

py::module &

m

)

Definition at line 145 of file odometry.cpp.