Open3D (C++ API)
0.18.0
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Base class that computes Jacobian from two RGB-D images. More...
#include <RGBDOdometryJacobian.h>
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RGBDOdometryJacobian () | |
Default Constructor. More... | |
virtual | ~RGBDOdometryJacobian () |
virtual 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 =0 |
Base class that computes Jacobian from two RGB-D images.
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inline |
Default Constructor.
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inlinevirtual |
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pure virtual |
Function to compute i-th row of J and r the vector form of J_r is basically 6x1 matrix, but it can be easily extendable to 6xn matrix. See RGBDOdometryJacobianFromHybridTerm for this case.
Implemented in open3d::pipelines::odometry::RGBDOdometryJacobianFromHybridTerm, and open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm.