RGBDOdometry.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
 
#pragma once
 
#include "cloudViewer/core/Tensor.h"
#include "cloudViewer/t/geometry/Image.h"
#include "cloudViewer/t/geometry/RGBDImage.h"
 
namespace cloudViewer {
namespace t {
namespace pipelines {
namespace odometry {
 
enum class Method {
    PointToPlane,  // Implemented and commented in
                   // ComputeOdometryResultPointToPlane
    Intensity,  // Implemented and commented in ComputeOdometryResultIntensity
    Hybrid,     // Implemented and commented in ComputeOdometryResultHybrid
};
 
class OdometryConvergenceCriteria {
public:
    OdometryConvergenceCriteria(int max_iteration,
                                double relative_rmse = 1e-6,
                                double relative_fitness = 1e-6)
        : max_iteration_(max_iteration),
          relative_rmse_(relative_rmse),
          relative_fitness_(relative_fitness) {}
 
public:
    int max_iteration_;
    double relative_rmse_;
    double relative_fitness_;
};
 
class OdometryResult {
public:
    OdometryResult(const core::Tensor& transformation = core::Tensor::Eye(
                           4, core::Float64, core::Device("CPU:0")),
                   double inlier_rmse = 0.0,
                   double fitness = 0.0)
        : transformation_(transformation),
          inlier_rmse_(inlier_rmse),
          fitness_(fitness) {}
 
    ~OdometryResult() {}
 
public:
    core::Tensor transformation_;
    double inlier_rmse_;
    double fitness_;
};
 
class OdometryLossParams {
public:
    OdometryLossParams(float depth_outlier_trunc = 0.07,
                       float depth_huber_delta = 0.05,
                       float intensity_huber_delta = 0.1)
        : depth_outlier_trunc_(depth_outlier_trunc),
          depth_huber_delta_(depth_huber_delta),
          intensity_huber_delta_(intensity_huber_delta) {
        if (depth_outlier_trunc_ < 0) {
            utility::LogWarning(
                    "Depth outlier truncation < 0, outliers will be counted!");
        }
        if (depth_huber_delta_ >= depth_outlier_trunc_) {
            utility::LogWarning(
                    "Huber delta is greater than truncation, huber norm will "
                    "degenerate to L2 norm!");
        }
    }
 
public:
    float depth_outlier_trunc_;
    float depth_huber_delta_;
    float intensity_huber_delta_;
};
 
OdometryResult RGBDOdometryMultiScale(
        const t::geometry::RGBDImage& source,
        const t::geometry::RGBDImage& target,
        const core::Tensor& intrinsics,
        const core::Tensor& init_source_to_target =
                core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")),
        const float depth_scale = 1000.0f,
        const float depth_max = 3.0f,
        const std::vector<OdometryConvergenceCriteria>& criteria_list = {10, 5,
                                                                         3},
        const Method method = Method::Hybrid,
        const OdometryLossParams& params = OdometryLossParams());
 
OdometryResult 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,
        const float depth_outlier_trunc,
        const float depth_huber_delta);
 
OdometryResult 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,
        const float depth_outlier_trunc,
        const float intensity_huber_delta);
 
OdometryResult 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,
        const float depth_outlier_trunc,
        const float depth_huber_delta,
        const float intensity_huber_delta);
 
core::Tensor ComputeOdometryInformationMatrix(
        const geometry::Image& source_depth,
        const geometry::Image& target_depth,
        const core::Tensor& intrinsic,
        const core::Tensor& source_to_target,
        const float dist_thr,
        const float depth_scale = 1000.0f,
        const float depth_max = 3.0f);
}  // namespace odometry
}  // namespace pipelines
}  // namespace t
}  // namespace cloudViewer