RGBDOdometryJacobianImpl.h File Reference

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

#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/kernel/GeometryIndexer.h"
#include "open3d/t/geometry/kernel/GeometryMacros.h"

Go to the source code of this file.

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

Functions
OPEN3D_HOST_DEVICE float	open3d::t::pipelines::kernel::odometry::HuberDeriv (float r, float delta)
OPEN3D_HOST_DEVICE float	open3d::t::pipelines::kernel::odometry::HuberLoss (float r, float delta)
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::odometry::GetJacobianPointToPoint (int x, int y, const float square_dist_thr, const NDArrayIndexer &source_vertex_indexer, const NDArrayIndexer &target_vertex_indexer, const TransformIndexer &ti, float *J_x, float *J_y, float *J_z, float &rx, float &ry, float &rz)
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::odometry::GetJacobianPointToPlane (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_vertex_indexer, const NDArrayIndexer &target_vertex_indexer, const NDArrayIndexer &target_normal_indexer, const TransformIndexer &ti, float *J_ij, float &r)
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::odometry::GetJacobianIntensity (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_depth_indexer, const NDArrayIndexer &target_depth_indexer, const NDArrayIndexer &source_intensity_indexer, const NDArrayIndexer &target_intensity_indexer, const NDArrayIndexer &target_intensity_dx_indexer, const NDArrayIndexer &target_intensity_dy_indexer, const NDArrayIndexer &source_vertex_indexer, const TransformIndexer &ti, float *J_I, float &r_I)
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::odometry::GetJacobianHybrid (int x, int y, const float depth_outlier_trunc, const NDArrayIndexer &source_depth_indexer, const NDArrayIndexer &target_depth_indexer, const NDArrayIndexer &source_intensity_indexer, const NDArrayIndexer &target_intensity_indexer, const NDArrayIndexer &target_depth_dx_indexer, const NDArrayIndexer &target_depth_dy_indexer, const NDArrayIndexer &target_intensity_dx_indexer, const NDArrayIndexer &target_intensity_dy_indexer, const NDArrayIndexer &source_vertex_indexer, const TransformIndexer &ti, float *J_I, float *J_D, float &r_I, float &r_D)