cloudViewer::t::pipelines::kernel::odometry Namespace Reference

Functions
void	ComputeOdometryResultPointToPlane (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &target_normal_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta)
void	ComputeOdometryResultIntensity (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float intensity_huber_delta)
void	ComputeOdometryResultHybrid (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_depth_dx, const core::Tensor &target_depth_dy, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta, const float intensity_huber_delta)
void	ComputeOdometryInformationMatrix (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &intrinsic, const core::Tensor &source_to_target, const float square_dist_thr, core::Tensor &information)
void	ComputeOdometryInformationMatrixCPU (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &intrinsic, const core::Tensor &source_to_target, const float square_dist_thr, core::Tensor &information)
void	ComputeOdometryResultIntensityCPU (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float intensity_huber_delta)
void	ComputeOdometryResultHybridCPU (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_depth_dx, const core::Tensor &target_depth_dy, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta, const float intensity_huber_delta)
void	ComputeOdometryResultPointToPlaneCPU (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &target_normal_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta)
CLOUDVIEWER_HOST_DEVICE float	HuberDeriv (float r, float delta)
CLOUDVIEWER_HOST_DEVICE float	HuberLoss (float r, float delta)
CLOUDVIEWER_HOST_DEVICE bool	GetJacobianPointToPoint (int x, int y, const float square_dist_thr, const NDArrayIndexer &source_vertex_indexer, const NDArrayIndexer &target_vertex_indexer, const TransformIndexer &ti, float *J_x, float *J_y, float *J_z, float &rx, float &ry, float &rz)
CLOUDVIEWER_HOST_DEVICE bool	GetJacobianPointToPlane (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_vertex_indexer, const NDArrayIndexer &target_vertex_indexer, const NDArrayIndexer &target_normal_indexer, const TransformIndexer &ti, float *J_ij, float &r)
CLOUDVIEWER_HOST_DEVICE bool	GetJacobianIntensity (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_depth_indexer, const NDArrayIndexer &target_depth_indexer, const NDArrayIndexer &source_intensity_indexer, const NDArrayIndexer &target_intensity_indexer, const NDArrayIndexer &target_intensity_dx_indexer, const NDArrayIndexer &target_intensity_dy_indexer, const NDArrayIndexer &source_vertex_indexer, const TransformIndexer &ti, float *J_I, float &r_I)
CLOUDVIEWER_HOST_DEVICE bool	GetJacobianHybrid (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_depth_indexer, const NDArrayIndexer &target_depth_indexer, const NDArrayIndexer &source_intensity_indexer, const NDArrayIndexer &target_intensity_indexer, const NDArrayIndexer &target_depth_dx_indexer, const NDArrayIndexer &target_depth_dy_indexer, const NDArrayIndexer &target_intensity_dx_indexer, const NDArrayIndexer &target_intensity_dy_indexer, const NDArrayIndexer &source_vertex_indexer, const TransformIndexer &ti, float *J_I, float *J_D, float &r_I, float &r_D)

Function Documentation

ComputeOdometryInformationMatrix()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryInformationMatrix	(	const core::Tensor &	source_vertex_map,
		const core::Tensor &	target_vertex_map,
		const core::Tensor &	intrinsic,
		const core::Tensor &	source_to_target,
		const float	square_dist_thr,
		core::Tensor &	information
	)

Definition at line 195 of file RGBDOdometry.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorDtypes, AssertTensorShape, ComputeOdometryInformationMatrixCPU(), cloudViewer::core::Tensor::Contiguous(), cloudViewer::core::Device::CPU, cloudViewer::core::Device::CUDA, CUDA_CALL, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Device::GetType(), LogError, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryInformationMatrix().

ComputeOdometryInformationMatrixCPU()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryInformationMatrixCPU	(	const core::Tensor &	source_vertex_map,
		const core::Tensor &	target_vertex_map,
		const core::Tensor &	intrinsic,
		const core::Tensor &	source_to_target,
		const float	square_dist_thr,
		core::Tensor &	information
	)

Definition at line 26 of file RGBDOdometryCPU.cpp.

References cloudViewer::core::Tensor::Empty(), cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetDevice(), and result.

Referenced by ComputeOdometryInformationMatrix().

ComputeOdometryResultHybrid()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultHybrid	(	const core::Tensor &	source_depth,
		const core::Tensor &	target_depth,
		const core::Tensor &	source_intensity,
		const core::Tensor &	target_intensity,
		const core::Tensor &	target_depth_dx,
		const core::Tensor &	target_depth_dy,
		const core::Tensor &	target_intensity_dx,
		const core::Tensor &	target_intensity_dy,
		const core::Tensor &	source_vertex_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	depth_huber_delta,
		const float	intensity_huber_delta
	)

Definition at line 126 of file RGBDOdometry.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorDtypes, AssertTensorShape, ComputeOdometryResultHybridCPU(), cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Device::IsCPU(), cloudViewer::core::Device::IsCUDA(), LogError, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultHybrid().

ComputeOdometryResultHybridCPU()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultHybridCPU	(	const core::Tensor &	source_depth,
		const core::Tensor &	target_depth,
		const core::Tensor &	source_intensity,
		const core::Tensor &	target_intensity,
		const core::Tensor &	target_depth_dx,
		const core::Tensor &	target_depth_dy,
		const core::Tensor &	target_intensity_dx,
		const core::Tensor &	target_intensity_dy,
		const core::Tensor &	source_vertex_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	depth_huber_delta,
		const float	intensity_huber_delta
	)

Definition at line 207 of file RGBDOdometryCPU.cpp.

References cloudViewer::t::pipelines::kernel::DecodeAndSolve6x6(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDevice(), and result.

Referenced by ComputeOdometryResultHybrid().

ComputeOdometryResultIntensity()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultIntensity	(	const core::Tensor &	source_depth,
		const core::Tensor &	target_depth,
		const core::Tensor &	source_intensity,
		const core::Tensor &	target_intensity,
		const core::Tensor &	target_intensity_dx,
		const core::Tensor &	target_intensity_dy,
		const core::Tensor &	source_vertex_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	intensity_huber_delta
	)

Definition at line 66 of file RGBDOdometry.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorDtypes, AssertTensorShape, ComputeOdometryResultIntensityCPU(), cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Device::IsCPU(), cloudViewer::core::Device::IsCUDA(), LogError, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultIntensity().

ComputeOdometryResultIntensityCPU()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultIntensityCPU	(	const core::Tensor &	source_depth,
		const core::Tensor &	target_depth,
		const core::Tensor &	source_intensity,
		const core::Tensor &	target_intensity,
		const core::Tensor &	target_intensity_dx,
		const core::Tensor &	target_intensity_dy,
		const core::Tensor &	source_vertex_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	intensity_huber_delta
	)

Definition at line 110 of file RGBDOdometryCPU.cpp.

References cloudViewer::t::pipelines::kernel::DecodeAndSolve6x6(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDevice(), and result.

Referenced by ComputeOdometryResultIntensity().

ComputeOdometryResultPointToPlane()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultPointToPlane	(	const core::Tensor &	source_vertex_map,
		const core::Tensor &	target_vertex_map,
		const core::Tensor &	target_normal_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	depth_huber_delta
	)

Definition at line 19 of file RGBDOdometry.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorDtypes, AssertTensorShape, ComputeOdometryResultPointToPlaneCPU(), cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Device::IsCPU(), cloudViewer::core::Device::IsCUDA(), LogError, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane().

ComputeOdometryResultPointToPlaneCPU()

void cloudViewer::t::pipelines::kernel::odometry::ComputeOdometryResultPointToPlaneCPU	(	const core::Tensor &	source_vertex_map,
		const core::Tensor &	target_vertex_map,
		const core::Tensor &	target_normal_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	init_source_to_target,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count,
		const float	depth_outlier_trunc,
		const float	depth_huber_delta
	)

Definition at line 315 of file RGBDOdometryCPU.cpp.

References cloudViewer::t::pipelines::kernel::DecodeAndSolve6x6(), cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDevice(), and result.

Referenced by ComputeOdometryResultPointToPlane().

GetJacobianHybrid()

CLOUDVIEWER_HOST_DEVICE bool cloudViewer::t::pipelines::kernel::odometry::GetJacobianHybrid ( int  x, int  y, const float  depth_outlier_trunc, const NDArrayIndexer &  source_depth_indexer, const NDArrayIndexer &  target_depth_indexer, const NDArrayIndexer &  source_intensity_indexer, const NDArrayIndexer &  target_intensity_indexer, const NDArrayIndexer &  target_depth_dx_indexer, const NDArrayIndexer &  target_depth_dy_indexer, const NDArrayIndexer &  target_intensity_dx_indexer, const NDArrayIndexer &  target_intensity_dy_indexer, const NDArrayIndexer &  source_vertex_indexer, const TransformIndexer &  ti, float *  J_I, float *  J_D, float &  r_I, float &  r_D  )

inline

Definition at line 233 of file RGBDOdometryJacobianImpl.h.

References abs(), cloudViewer::t::geometry::kernel::TransformIndexer::GetFocalLength(), cloudViewer::t::geometry::kernel::TransformIndexer::Project(), and cloudViewer::t::geometry::kernel::TransformIndexer::RigidTransform().

GetJacobianIntensity()

CLOUDVIEWER_HOST_DEVICE bool cloudViewer::t::pipelines::kernel::odometry::GetJacobianIntensity ( int  x, int  y, const float  depth_outlier_trunc, const NDArrayIndexer &  source_depth_indexer, const NDArrayIndexer &  target_depth_indexer, const NDArrayIndexer &  source_intensity_indexer, const NDArrayIndexer &  target_intensity_indexer, const NDArrayIndexer &  target_intensity_dx_indexer, const NDArrayIndexer &  target_intensity_dy_indexer, const NDArrayIndexer &  source_vertex_indexer, const TransformIndexer &  ti, float *  J_I, float &  r_I  )

inline

Definition at line 164 of file RGBDOdometryJacobianImpl.h.

References abs(), cloudViewer::t::geometry::kernel::TransformIndexer::GetFocalLength(), cloudViewer::t::geometry::kernel::TransformIndexer::Project(), and cloudViewer::t::geometry::kernel::TransformIndexer::RigidTransform().

GetJacobianPointToPlane()

CLOUDVIEWER_HOST_DEVICE bool cloudViewer::t::pipelines::kernel::odometry::GetJacobianPointToPlane ( int  x, int  y, const float  depth_outlier_trunc, const NDArrayIndexer &  source_vertex_indexer, const NDArrayIndexer &  target_vertex_indexer, const NDArrayIndexer &  target_normal_indexer, const TransformIndexer &  ti, float *  J_ij, float &  r  )

inline

Definition at line 106 of file RGBDOdometryJacobianImpl.h.

References abs(), cloudViewer::t::geometry::kernel::TransformIndexer::Project(), and cloudViewer::t::geometry::kernel::TransformIndexer::RigidTransform().

GetJacobianPointToPoint()

CLOUDVIEWER_HOST_DEVICE bool cloudViewer::t::pipelines::kernel::odometry::GetJacobianPointToPoint ( int  x, int  y, const float  square_dist_thr, const NDArrayIndexer &  source_vertex_indexer, const NDArrayIndexer &  target_vertex_indexer, const TransformIndexer &  ti, float *  J_x, float *  J_y, float *  J_z, float &  rx, float &  ry, float &  rz  )

inline

Definition at line 39 of file RGBDOdometryJacobianImpl.h.

References cloudViewer::t::geometry::kernel::TransformIndexer::Project(), and cloudViewer::t::geometry::kernel::TransformIndexer::RigidTransform().

HuberDeriv()

CLOUDVIEWER_HOST_DEVICE float cloudViewer::t::pipelines::kernel::odometry::HuberDeriv ( float  r, float  delta  )

inline

Definition at line 29 of file RGBDOdometryJacobianImpl.h.

References abs(), and Sign().

HuberLoss()

CLOUDVIEWER_HOST_DEVICE float cloudViewer::t::pipelines::kernel::odometry::HuberLoss ( float  r, float  delta  )

inline

Definition at line 34 of file RGBDOdometryJacobianImpl.h.

References abs().