Class to compute Jacobian using color term. More...

Inheritance diagram for open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm:

Public Member Functions
	RGBDOdometryJacobianFromColorTerm ()
	Default Constructor. More...

	~RGBDOdometryJacobianFromColorTerm () override

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 override
	Parameterized Constructor. More...

Public Member Functions inherited from open3d::pipelines::odometry::RGBDOdometryJacobian
	RGBDOdometryJacobian ()
	Default Constructor. More...

virtual	~RGBDOdometryJacobian ()

Detailed Description

Class to compute Jacobian using color term.

Energy: (I_p-I_q)^2 reference: F. Steinbrucker, J. Sturm, and D. Cremers. Real-time visual odometry from dense RGB-D images. In ICCV Workshops, 2011.

Constructor & Destructor Documentation

open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::RGBDOdometryJacobianFromColorTerm ( )

inline

Default Constructor.

open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::~RGBDOdometryJacobianFromColorTerm ( )

inlineoverride

void open3d::pipelines::odometry::RGBDOdometryJacobianFromColorTerm::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

overridevirtual

Parameterized Constructor.

The documentation for this class was generated from the following files: