RGBDOdometryCPU.cpp File Reference

(9238339 (Tue Mar 14 18:49:09 2023 -0700))

#include <tbb/parallel_for.h>
#include <tbb/parallel_reduce.h>
#include "open3d/core/ParallelFor.h"
#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/kernel/GeometryIndexer.h"
#include "open3d/t/geometry/kernel/GeometryMacros.h"
#include "open3d/t/pipelines/kernel/RGBDOdometryImpl.h"
#include "open3d/t/pipelines/kernel/RGBDOdometryJacobianImpl.h"
#include "open3d/t/pipelines/kernel/TransformationConverter.h"
#include "open3d/utility/Parallel.h"

Namespaces
	open3d
	open3d::t
	open3d::t::pipelines
	open3d::t::pipelines::kernel
	open3d::t::pipelines::kernel::odometry

Functions
void	open3d::t::pipelines::kernel::odometry::ComputeOdometryInformationMatrixCPU (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &intrinsic, const core::Tensor &source_to_target, const float square_dist_thr, core::Tensor &information)
void	open3d::t::pipelines::kernel::odometry::ComputeOdometryResultIntensityCPU (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float intensity_huber_delta)
void	open3d::t::pipelines::kernel::odometry::ComputeOdometryResultHybridCPU (const core::Tensor &source_depth, const core::Tensor &target_depth, const core::Tensor &source_intensity, const core::Tensor &target_intensity, const core::Tensor &target_depth_dx, const core::Tensor &target_depth_dy, const core::Tensor &target_intensity_dx, const core::Tensor &target_intensity_dy, const core::Tensor &source_vertex_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta, const float intensity_huber_delta)
void	open3d::t::pipelines::kernel::odometry::ComputeOdometryResultPointToPlaneCPU (const core::Tensor &source_vertex_map, const core::Tensor &target_vertex_map, const core::Tensor &target_normal_map, const core::Tensor &intrinsics, const core::Tensor &init_source_to_target, core::Tensor &delta, float &inlier_residual, int &inlier_count, const float depth_outlier_trunc, const float depth_huber_delta)