RGBDOdometryJacobian.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include <Eigen/Core>
#include <iostream>
#include <tuple>
#include <vector>

#include "open3d/pipelines/odometry/OdometryOption.h"
#include "open3d/utility/Eigen.h"

namespace open3d {

namespace geometry {
class Image;
}

namespace geometry {
class RGBDImage;
}

namespace pipelines {
namespace odometry {

typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator>
        CorrespondenceSetPixelWise;

class RGBDOdometryJacobian {
public:
    RGBDOdometryJacobian() {}
    virtual ~RGBDOdometryJacobian() {}

public:
    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;
};

class RGBDOdometryJacobianFromColorTerm : public RGBDOdometryJacobian {
public:
    RGBDOdometryJacobianFromColorTerm() {}
    ~RGBDOdometryJacobianFromColorTerm() override {}

public:
    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;
};

class RGBDOdometryJacobianFromHybridTerm : public RGBDOdometryJacobian {
public:
    RGBDOdometryJacobianFromHybridTerm() {}
    ~RGBDOdometryJacobianFromHybridTerm() override {}

public:
    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;
};

}  // namespace odometry
}  // namespace pipelines
}  // namespace open3d