cppapi/_registration_impl_8h_source.html

 // ----------------------------------------------------------------------------

 // -                        Open3D: www.open3d.org                            -

 // ----------------------------------------------------------------------------

 // Copyright (c) 2018-2023 www.open3d.org

 // SPDX-License-Identifier: MIT

 // ----------------------------------------------------------------------------


 // Private header. Do not include in Open3d.h.


 #pragma once


 #include <cmath>


 #include "open3d/core/CUDAUtils.h"

 #include "open3d/core/Tensor.h"

 #include "open3d/core/linalg/kernel/Matrix.h"

 #include "open3d/t/pipelines/kernel/TransformationConverter.h"

 #include "open3d/t/pipelines/registration/RobustKernel.h"


 #ifndef __CUDACC__

 using std::abs;

 #endif


 namespace open3d {

 namespace t {

 namespace pipelines {

 namespace kernel {


 void ComputePosePointToPlaneCPU(const core::Tensor &source_points,

                                 const core::Tensor &target_points,

                                 const core::Tensor &target_normals,

                                 const core::Tensor &correspondence_indices,

                                 core::Tensor &pose,

                                 float &residual,

                                 int &inlier_count,

                                 const core::Dtype &dtype,

                                 const core::Device &device,

                                 const registration::RobustKernel &kernel);


 void ComputePoseColoredICPCPU(const core::Tensor &source_points,

                               const core::Tensor &source_colors,

                               const core::Tensor &target_points,

                               const core::Tensor &target_normals,

                               const core::Tensor &target_colors,

                               const core::Tensor &target_color_gradients,

                               const core::Tensor &correspondence_indices,

                               core::Tensor &pose,

                               float &residual,

                               int &inlier_count,

                               const core::Dtype &dtype,

                               const core::Device &device,

                               const registration::RobustKernel &kernel,

                               const double &lambda_geometric);


 void ComputePoseDopplerICPCPU(

         const core::Tensor &source_points,

         const core::Tensor &source_dopplers,

         const core::Tensor &source_directions,

         const core::Tensor &target_points,

         const core::Tensor &target_normals,

         const core::Tensor &correspondence_indices,

         core::Tensor &output_pose,

         float &residual,

         int &inlier_count,

         const core::Dtype &dtype,

         const core::Device &device,

         const core::Tensor &R_S_to_V,

         const core::Tensor &r_v_to_s_in_V,

         const core::Tensor &w_v_in_V,

         const core::Tensor &v_v_in_V,

         const double period,

         const bool reject_dynamic_outliers,

         const double doppler_outlier_threshold,

         const registration::RobustKernel &kernel_geometric,

         const registration::RobustKernel &kernel_doppler,

         const double lambda_doppler);


 #ifdef BUILD_CUDA_MODULE

 void ComputePosePointToPlaneCUDA(const core::Tensor &source_points,

                                  const core::Tensor &target_points,

                                  const core::Tensor &target_normals,

                                  const core::Tensor &correspondence_indices,

                                  core::Tensor &pose,

                                  float &residual,

                                  int &inlier_count,

                                  const core::Dtype &dtype,

                                  const core::Device &device,

                                  const registration::RobustKernel &kernel);


 void ComputePoseColoredICPCUDA(const core::Tensor &source_points,

                                const core::Tensor &source_colors,

                                const core::Tensor &target_points,

                                const core::Tensor &target_normals,

                                const core::Tensor &target_colors,

                                const core::Tensor &target_color_gradients,

                                const core::Tensor &correspondence_indices,

                                core::Tensor &pose,

                                float &residual,

                                int &inlier_count,

                                const core::Dtype &dtype,

                                const core::Device &device,

                                const registration::RobustKernel &kernel,

                                const double &lambda_geometric);


 void ComputePoseDopplerICPCUDA(

         const core::Tensor &source_points,

         const core::Tensor &source_dopplers,

         const core::Tensor &source_directions,

         const core::Tensor &target_points,

         const core::Tensor &target_normals,

         const core::Tensor &correspondence_indices,

         core::Tensor &output_pose,

         float &residual,

         int &inlier_count,

         const core::Dtype &dtype,

         const core::Device &device,

         const core::Tensor &R_S_to_V,

         const core::Tensor &r_v_to_s_in_V,

         const core::Tensor &w_v_in_V,

         const core::Tensor &v_v_in_V,

         const double period,

         const bool reject_dynamic_outliers,

         const double doppler_outlier_threshold,

         const registration::RobustKernel &kernel_geometric,

         const registration::RobustKernel &kernel_doppler,

         const double lambda_doppler);

 #endif


 void ComputeRtPointToPointCPU(const core::Tensor &source_points,

                               const core::Tensor &target_points,

                               const core::Tensor &correspondence_indices,

                               core::Tensor &R,

                               core::Tensor &t,

                               int &inlier_count,

                               const core::Dtype &dtype,

                               const core::Device &device);


 void ComputeInformationMatrixCPU(const core::Tensor &target_points,

                                  const core::Tensor &correspondence_indices,

                                  core::Tensor &information_matrix,

                                  const core::Dtype &dtype,

                                  const core::Device &device);


 #ifdef BUILD_CUDA_MODULE

 void ComputeInformationMatrixCUDA(const core::Tensor &target_points,

                                   const core::Tensor &correspondence_indices,

                                   core::Tensor &information_matrix,

                                   const core::Dtype &dtype,

                                   const core::Device &device);

 #endif


 template <typename scalar_t>

 OPEN3D_HOST_DEVICE inline bool GetJacobianPointToPlane(

         int64_t workload_idx,

         const scalar_t *source_points_ptr,

         const scalar_t *target_points_ptr,

         const scalar_t *target_normals_ptr,

         const int64_t *correspondence_indices,

         scalar_t *J_ij,

         scalar_t &r) {

     if (correspondence_indices[workload_idx] == -1) {

         return false;

     }


     const int64_t target_idx = 3 * correspondence_indices[workload_idx];

     const int64_t source_idx = 3 * workload_idx;


     const scalar_t &sx = source_points_ptr[source_idx + 0];

     const scalar_t &sy = source_points_ptr[source_idx + 1];

     const scalar_t &sz = source_points_ptr[source_idx + 2];

     const scalar_t &tx = target_points_ptr[target_idx + 0];

     const scalar_t &ty = target_points_ptr[target_idx + 1];

     const scalar_t &tz = target_points_ptr[target_idx + 2];

     const scalar_t &nx = target_normals_ptr[target_idx + 0];

     const scalar_t &ny = target_normals_ptr[target_idx + 1];

     const scalar_t &nz = target_normals_ptr[target_idx + 2];


     r = (sx - tx) * nx + (sy - ty) * ny + (sz - tz) * nz;


     J_ij[0] = nz * sy - ny * sz;

     J_ij[1] = nx * sz - nz * sx;

     J_ij[2] = ny * sx - nx * sy;

     J_ij[3] = nx;

     J_ij[4] = ny;

     J_ij[5] = nz;


     return true;

 }


 template bool GetJacobianPointToPlane(int64_t workload_idx,

                                       const float *source_points_ptr,

                                       const float *target_points_ptr,

                                       const float *target_normals_ptr,

                                       const int64_t *correspondence_indices,

                                       float *J_ij,

                                       float &r);


 template bool GetJacobianPointToPlane(int64_t workload_idx,

                                       const double *source_points_ptr,

                                       const double *target_points_ptr,

                                       const double *target_normals_ptr,

                                       const int64_t *correspondence_indices,

                                       double *J_ij,

                                       double &r);


 template <typename scalar_t>

 OPEN3D_HOST_DEVICE inline bool GetJacobianColoredICP(

         const int64_t workload_idx,

         const scalar_t *source_points_ptr,

         const scalar_t *source_colors_ptr,

         const scalar_t *target_points_ptr,

         const scalar_t *target_normals_ptr,

         const scalar_t *target_colors_ptr,

         const scalar_t *target_color_gradients_ptr,

         const int64_t *correspondence_indices,

         const scalar_t &sqrt_lambda_geometric,

         const scalar_t &sqrt_lambda_photometric,

         scalar_t *J_G,

         scalar_t *J_I,

         scalar_t &r_G,

         scalar_t &r_I) {

     if (correspondence_indices[workload_idx] == -1) {

         return false;

     }


     const int64_t target_idx = 3 * correspondence_indices[workload_idx];

     const int64_t source_idx = 3 * workload_idx;


     const scalar_t vs[3] = {source_points_ptr[source_idx],

                             source_points_ptr[source_idx + 1],

                             source_points_ptr[source_idx + 2]};


     const scalar_t vt[3] = {target_points_ptr[target_idx],

                             target_points_ptr[target_idx + 1],

                             target_points_ptr[target_idx + 2]};


     const scalar_t nt[3] = {target_normals_ptr[target_idx],

                             target_normals_ptr[target_idx + 1],

                             target_normals_ptr[target_idx + 2]};


     const scalar_t d = (vs[0] - vt[0]) * nt[0] + (vs[1] - vt[1]) * nt[1] +

                        (vs[2] - vt[2]) * nt[2];


     J_G[0] = sqrt_lambda_geometric * (-vs[2] * nt[1] + vs[1] * nt[2]);

     J_G[1] = sqrt_lambda_geometric * (vs[2] * nt[0] - vs[0] * nt[2]);

     J_G[2] = sqrt_lambda_geometric * (-vs[1] * nt[0] + vs[0] * nt[1]);

     J_G[3] = sqrt_lambda_geometric * nt[0];

     J_G[4] = sqrt_lambda_geometric * nt[1];

     J_G[5] = sqrt_lambda_geometric * nt[2];

     r_G = sqrt_lambda_geometric * d;


     const scalar_t vs_proj[3] = {vs[0] - d * nt[0], vs[1] - d * nt[1],

                                  vs[2] - d * nt[2]};


     const scalar_t intensity_source =

             (source_colors_ptr[source_idx] + source_colors_ptr[source_idx + 1] +

              source_colors_ptr[source_idx + 2]) /

             3.0;


     const scalar_t intensity_target =

             (target_colors_ptr[target_idx] + target_colors_ptr[target_idx + 1] +

              target_colors_ptr[target_idx + 2]) /

             3.0;


     const scalar_t dit[3] = {target_color_gradients_ptr[target_idx],

                              target_color_gradients_ptr[target_idx + 1],

                              target_color_gradients_ptr[target_idx + 2]};


     const scalar_t is_proj = dit[0] * (vs_proj[0] - vt[0]) +

                              dit[1] * (vs_proj[1] - vt[1]) +

                              dit[2] * (vs_proj[2] - vt[2]) + intensity_target;


     const scalar_t s = dit[0] * nt[0] + dit[1] * nt[1] + dit[2] * nt[2];

     const scalar_t ditM[3] = {s * nt[0] - dit[0], s * nt[1] - dit[1],

                               s * nt[2] - dit[2]};


     J_I[0] = sqrt_lambda_photometric * (-vs[2] * ditM[1] + vs[1] * ditM[2]);

     J_I[1] = sqrt_lambda_photometric * (vs[2] * ditM[0] - vs[0] * ditM[2]);

     J_I[2] = sqrt_lambda_photometric * (-vs[1] * ditM[0] + vs[0] * ditM[1]);

     J_I[3] = sqrt_lambda_photometric * ditM[0];

     J_I[4] = sqrt_lambda_photometric * ditM[1];

     J_I[5] = sqrt_lambda_photometric * ditM[2];

     r_I = sqrt_lambda_photometric * (intensity_source - is_proj);


     return true;

 }


 template bool GetJacobianColoredICP(const int64_t workload_idx,

                                     const float *source_points_ptr,

                                     const float *source_colors_ptr,

                                     const float *target_points_ptr,

                                     const float *target_normals_ptr,

                                     const float *target_colors_ptr,

                                     const float *target_color_gradients_ptr,

                                     const int64_t *correspondence_indices,

                                     const float &sqrt_lambda_geometric,

                                     const float &sqrt_lambda_photometric,

                                     float *J_G,

                                     float *J_I,

                                     float &r_G,

                                     float &r_I);


 template bool GetJacobianColoredICP(const int64_t workload_idx,

                                     const double *source_points_ptr,

                                     const double *source_colors_ptr,

                                     const double *target_points_ptr,

                                     const double *target_normals_ptr,

                                     const double *target_colors_ptr,

                                     const double *target_color_gradients_ptr,

                                     const int64_t *correspondence_indices,

                                     const double &sqrt_lambda_geometric,

                                     const double &sqrt_lambda_photometric,

                                     double *J_G,

                                     double *J_I,

                                     double &r_G,

                                     double &r_I);


 template <typename scalar_t>

 OPEN3D_HOST_DEVICE inline void PreComputeForDopplerICP(

         const scalar_t *R_S_to_V,

         const scalar_t *r_v_to_s_in_V,

         const scalar_t *w_v_in_V,

         const scalar_t *v_v_in_V,

         scalar_t *v_s_in_S) {

     // Compute v_s_in_V = v_v_in_V + w_v_in_V.cross(r_v_to_s_in_V).

     scalar_t v_s_in_V[3] = {0};

     core::linalg::kernel::cross_3x1(w_v_in_V, r_v_to_s_in_V, v_s_in_V);

     v_s_in_V[0] += v_v_in_V[0];

     v_s_in_V[1] += v_v_in_V[1];

     v_s_in_V[2] += v_v_in_V[2];


     // Compute v_s_in_S = R_S_to_V * v_s_in_V.

     core::linalg::kernel::matmul3x3_3x1(R_S_to_V, v_s_in_V, v_s_in_S);

 }


 template void PreComputeForDopplerICP(const float *R_S_to_V,

                                       const float *r_v_to_s_in_V,

                                       const float *w_v_in_V,

                                       const float *v_v_in_V,

                                       float *v_s_in_S);


 template void PreComputeForDopplerICP(const double *R_S_to_V,

                                       const double *r_v_to_s_in_V,

                                       const double *w_v_in_V,

                                       const double *v_v_in_V,

                                       double *v_s_in_S);


 template <typename scalar_t>

 OPEN3D_HOST_DEVICE inline bool GetJacobianDopplerICP(

         const int64_t workload_idx,

         const scalar_t *source_points_ptr,

         const scalar_t *source_dopplers_ptr,

         const scalar_t *source_directions_ptr,

         const scalar_t *target_points_ptr,

         const scalar_t *target_normals_ptr,

         const int64_t *correspondence_indices,

         const scalar_t *R_S_to_V,

         const scalar_t *r_v_to_s_in_V,

         const scalar_t *v_s_in_S,

         const bool reject_dynamic_outliers,

         const scalar_t doppler_outlier_threshold,

         const scalar_t &sqrt_lambda_geometric,

         const scalar_t &sqrt_lambda_doppler,

         const scalar_t &sqrt_lambda_doppler_by_dt,

         scalar_t *J_G,

         scalar_t *J_D,

         scalar_t &r_G,

         scalar_t &r_D) {

     if (correspondence_indices[workload_idx] == -1) {

         return false;

     }


     const int64_t target_idx = 3 * correspondence_indices[workload_idx];

     const int64_t source_idx = 3 * workload_idx;


     const scalar_t &doppler_in_S = source_dopplers_ptr[workload_idx];


     const scalar_t ds_in_V[3] = {source_directions_ptr[source_idx],

                                  source_directions_ptr[source_idx + 1],

                                  source_directions_ptr[source_idx + 2]};


     // Compute predicted Doppler velocity (in sensor frame).

     scalar_t ds_in_S[3] = {0};

     core::linalg::kernel::matmul3x3_3x1(R_S_to_V, ds_in_V, ds_in_S);

     const scalar_t doppler_pred_in_S =

             -core::linalg::kernel::dot_3x1(ds_in_S, v_s_in_S);


     // Compute Doppler error.

     const double doppler_error = doppler_in_S - doppler_pred_in_S;


     // Dynamic point outlier rejection.

     if (reject_dynamic_outliers &&

         abs(doppler_error) > doppler_outlier_threshold) {

         // Jacobian and residual are set to 0 by default.

         return true;

     }


     // Compute Doppler residual and Jacobian.

     scalar_t J_D_w[3] = {0};

     core::linalg::kernel::cross_3x1(ds_in_V, r_v_to_s_in_V, J_D_w);

     J_D[0] = sqrt_lambda_doppler_by_dt * J_D_w[0];

     J_D[1] = sqrt_lambda_doppler_by_dt * J_D_w[1];

     J_D[2] = sqrt_lambda_doppler_by_dt * J_D_w[2];

     J_D[3] = sqrt_lambda_doppler_by_dt * -ds_in_V[0];

     J_D[4] = sqrt_lambda_doppler_by_dt * -ds_in_V[1];

     J_D[5] = sqrt_lambda_doppler_by_dt * -ds_in_V[2];

     r_D = sqrt_lambda_doppler * doppler_error;


     const scalar_t ps[3] = {source_points_ptr[source_idx],

                             source_points_ptr[source_idx + 1],

                             source_points_ptr[source_idx + 2]};


     const scalar_t pt[3] = {target_points_ptr[target_idx],

                             target_points_ptr[target_idx + 1],

                             target_points_ptr[target_idx + 2]};


     const scalar_t nt[3] = {target_normals_ptr[target_idx],

                             target_normals_ptr[target_idx + 1],

                             target_normals_ptr[target_idx + 2]};


     // Compute geometric point-to-plane error.

     const scalar_t p2p_error = (ps[0] - pt[0]) * nt[0] +

                                (ps[1] - pt[1]) * nt[1] +

                                (ps[2] - pt[2]) * nt[2];


     // Compute geometric point-to-plane residual and Jacobian.

     J_G[0] = sqrt_lambda_geometric * (-ps[2] * nt[1] + ps[1] * nt[2]);

     J_G[1] = sqrt_lambda_geometric * (ps[2] * nt[0] - ps[0] * nt[2]);

     J_G[2] = sqrt_lambda_geometric * (-ps[1] * nt[0] + ps[0] * nt[1]);

     J_G[3] = sqrt_lambda_geometric * nt[0];

     J_G[4] = sqrt_lambda_geometric * nt[1];

     J_G[5] = sqrt_lambda_geometric * nt[2];

     r_G = sqrt_lambda_geometric * p2p_error;


     return true;

 }


 template bool GetJacobianDopplerICP(const int64_t workload_idx,

                                     const float *source_points_ptr,

                                     const float *source_dopplers_ptr,

                                     const float *source_directions_ptr,

                                     const float *target_points_ptr,

                                     const float *target_normals_ptr,

                                     const int64_t *correspondence_indices,

                                     const float *R_S_to_V,

                                     const float *r_v_to_s_in_V,

                                     const float *v_s_in_S,

                                     const bool reject_dynamic_outliers,

                                     const float doppler_outlier_threshold,

                                     const float &sqrt_lambda_geometric,

                                     const float &sqrt_lambda_doppler,

                                     const float &sqrt_lambda_doppler_by_dt,

                                     float *J_G,

                                     float *J_D,

                                     float &r_G,

                                     float &r_D);


 template bool GetJacobianDopplerICP(const int64_t workload_idx,

                                     const double *source_points_ptr,

                                     const double *source_dopplers_ptr,

                                     const double *source_directions_ptr,

                                     const double *target_points_ptr,

                                     const double *target_normals_ptr,

                                     const int64_t *correspondence_indices,

                                     const double *R_S_to_V,

                                     const double *r_v_to_s_in_V,

                                     const double *v_s_in_S,

                                     const bool reject_dynamic_outliers,

                                     const double doppler_outlier_threshold,

                                     const double &sqrt_lambda_geometric,

                                     const double &sqrt_lambda_doppler,

                                     const double &sqrt_lambda_doppler_by_dt,

                                     double *J_G,

                                     double *J_D,

                                     double &r_G,

                                     double &r_D);


 template <typename scalar_t>

 OPEN3D_HOST_DEVICE inline bool GetInformationJacobians(

         int64_t workload_idx,

         const scalar_t *target_points_ptr,

         const int64_t *correspondence_indices,

         scalar_t *jacobian_x,

         scalar_t *jacobian_y,

         scalar_t *jacobian_z) {

     if (correspondence_indices[workload_idx] == -1) {

         return false;

     }


     const int64_t target_idx = 3 * correspondence_indices[workload_idx];


     jacobian_x[0] = jacobian_x[4] = jacobian_x[5] = 0.0;

     jacobian_x[1] = target_points_ptr[target_idx + 2];

     jacobian_x[2] = -target_points_ptr[target_idx + 1];

     jacobian_x[3] = 1.0;


     jacobian_y[1] = jacobian_y[3] = jacobian_y[5] = 0.0;

     jacobian_y[0] = -target_points_ptr[target_idx + 2];

     jacobian_y[2] = target_points_ptr[target_idx];

     jacobian_y[4] = 1.0;


     jacobian_z[2] = jacobian_z[3] = jacobian_z[4] = 0.0;

     jacobian_z[0] = target_points_ptr[target_idx + 1];

     jacobian_z[1] = -target_points_ptr[target_idx];

     jacobian_z[5] = 1.0;


     return true;

 }


 template bool GetInformationJacobians(int64_t workload_idx,

                                       const float *target_points_ptr,

                                       const int64_t *correspondence_indices,

                                       float *jacobian_x,

                                       float *jacobian_y,

                                       float *jacobian_z);


 template bool GetInformationJacobians(int64_t workload_idx,

                                       const double *target_points_ptr,

                                       const int64_t *correspondence_indices,

                                       double *jacobian_x,

                                       double *jacobian_y,

                                       double *jacobian_z);


 }  // namespace kernel

 }  // namespace pipelines

 }  // namespace t

 }  // namespace open3d

CUDAUtils.h
Common CUDA utilities.

OPEN3D_HOST_DEVICE
#define OPEN3D_HOST_DEVICE
Definition: CUDAUtils.h:44

Matrix.h

Tensor.h

TransformationConverter.h

open3d::core::linalg::kernel::cross_3x1
OPEN3D_HOST_DEVICE OPEN3D_FORCE_INLINE void cross_3x1(const scalar_t *A_3x1_input, const scalar_t *B_3x1_input, scalar_t *C_3x1_output)
Definition: Matrix.h:63

open3d::core::linalg::kernel::dot_3x1
OPEN3D_HOST_DEVICE OPEN3D_FORCE_INLINE scalar_t dot_3x1(const scalar_t *A_3x1_input, const scalar_t *B_3x1_input)
Definition: Matrix.h:89

open3d::t::pipelines::kernel::GetJacobianPointToPlane
OPEN3D_HOST_DEVICE bool GetJacobianPointToPlane(int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const int64_t *correspondence_indices, scalar_t *J_ij, scalar_t &r)
Definition: RegistrationImpl.h:153

open3d::t::pipelines::kernel::ComputeInformationMatrixCPU
void ComputeInformationMatrixCPU(const core::Tensor &target_points, const core::Tensor &correspondence_indices, core::Tensor &information_matrix, const core::Dtype &dtype, const core::Device &device)
Definition: RegistrationCPU.cpp:636

open3d::t::pipelines::kernel::GetJacobianDopplerICP
OPEN3D_HOST_DEVICE bool GetJacobianDopplerICP(const int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *source_dopplers_ptr, const scalar_t *source_directions_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const int64_t *correspondence_indices, const scalar_t *R_S_to_V, const scalar_t *r_v_to_s_in_V, const scalar_t *v_s_in_S, const bool reject_dynamic_outliers, const scalar_t doppler_outlier_threshold, const scalar_t &sqrt_lambda_geometric, const scalar_t &sqrt_lambda_doppler, const scalar_t &sqrt_lambda_doppler_by_dt, scalar_t *J_G, scalar_t *J_D, scalar_t &r_G, scalar_t &r_D)
Definition: RegistrationImpl.h:349

open3d::t::pipelines::kernel::ComputeRtPointToPointCPU
void ComputeRtPointToPointCPU(const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &corres, core::Tensor &R, core::Tensor &t, int &inlier_count, const core::Dtype &dtype, const core::Device &device)
Definition: RegistrationCPU.cpp:544

open3d::t::pipelines::kernel::ComputePoseDopplerICPCPU
void ComputePoseDopplerICPCPU(const core::Tensor &source_points, const core::Tensor &source_dopplers, const core::Tensor &source_directions, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, core::Tensor &output_pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const core::Tensor &R_S_to_V, const core::Tensor &r_v_to_s_in_V, const core::Tensor &w_v_in_V, const core::Tensor &v_v_in_V, const double period, const bool reject_dynamic_outliers, const double doppler_outlier_threshold, const registration::RobustKernel &kernel_geometric, const registration::RobustKernel &kernel_doppler, const double lambda_doppler)
Definition: RegistrationCPU.cpp:351

open3d::t::pipelines::kernel::ComputePosePointToPlaneCPU
void ComputePosePointToPlaneCPU(const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel)
Definition: RegistrationCPU.cpp:98

open3d::t::pipelines::kernel::ComputePoseColoredICPCPU
void ComputePoseColoredICPCPU(const core::Tensor &source_points, const core::Tensor &source_colors, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel, const double &lambda_geometric)
Definition: RegistrationCPU.cpp:209

open3d::t::pipelines::kernel::GetJacobianColoredICP
OPEN3D_HOST_DEVICE bool GetJacobianColoredICP(const int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *source_colors_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const scalar_t *target_colors_ptr, const scalar_t *target_color_gradients_ptr, const int64_t *correspondence_indices, const scalar_t &sqrt_lambda_geometric, const scalar_t &sqrt_lambda_photometric, scalar_t *J_G, scalar_t *J_I, scalar_t &r_G, scalar_t &r_I)
Definition: RegistrationImpl.h:207

open3d::t::pipelines::kernel::PreComputeForDopplerICP
OPEN3D_HOST_DEVICE void PreComputeForDopplerICP(const scalar_t *R_S_to_V, const scalar_t *r_v_to_s_in_V, const scalar_t *w_v_in_V, const scalar_t *v_v_in_V, scalar_t *v_s_in_S)
Definition: RegistrationImpl.h:319

open3d::t::pipelines::kernel::GetInformationJacobians
OPEN3D_HOST_DEVICE bool GetInformationJacobians(int64_t workload_idx, const scalar_t *target_points_ptr, const int64_t *correspondence_indices, scalar_t *jacobian_x, scalar_t *jacobian_y, scalar_t *jacobian_z)
Definition: RegistrationImpl.h:479

open3d
Definition: PinholeCameraIntrinsic.cpp:16

RobustKernel.h