Open3D (C++ API)  0.12.0
EigenHelperForNonRigidOptimization.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <tuple>
31 #include <vector>
32 
34 namespace Eigen {
35 
36 typedef Eigen::Matrix<double, 14, 14> Matrix14d;
37 typedef Eigen::Matrix<double, 14, 1> Vector14d;
38 typedef Eigen::Matrix<int, 14, 1> Vector14i;
39 
40 } // namespace Eigen
42 
43 namespace open3d {
44 namespace pipelines {
45 namespace color_map {
46 
53 template <typename VecInTypeDouble,
54  typename VecInTypeInt,
55  typename MatOutType,
56  typename VecOutType>
57 std::tuple<MatOutType, VecOutType, double> ComputeJTJandJTrNonRigid(
58  std::function<void(int, VecInTypeDouble &, double &, VecInTypeInt &)> f,
59  int iteration_num,
60  int nonrigidval,
61  bool verbose = true);
62 
63 } // namespace color_map
64 } // namespace pipelines
65 } // namespace open3d
Definition: PinholeCameraIntrinsic.cpp:35
std::tuple< MatOutType, VecOutType, double > ComputeJTJandJTrNonRigid(std::function< void(int, VecInTypeDouble &, double &, VecInTypeInt &)> f, int iteration_num, int nonrigidval, bool verbose)
Definition: EigenHelperForNonRigidOptimization.cpp:39