Open3D (C++ API)  0.17.0
Functions
open3d::t::pipelines::kernel::odometry Namespace Reference

Functions

void ComputeOdometryResultPointToPlane (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)
 
void ComputeOdometryResultIntensity (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 ComputeOdometryResultHybrid (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 ComputeOdometryInformationMatrix (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 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 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 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 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)
 
OPEN3D_HOST_DEVICE float HuberDeriv (float r, float delta)
 
OPEN3D_HOST_DEVICE float HuberLoss (float r, float delta)
 
OPEN3D_HOST_DEVICE bool 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 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 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 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)
 

Function Documentation

◆ ComputeOdometryInformationMatrix()

void open3d::t::pipelines::kernel::odometry::ComputeOdometryInformationMatrix ( 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 
)

◆ ComputeOdometryInformationMatrixCPU()

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 
)

◆ ComputeOdometryResultHybrid()

void open3d::t::pipelines::kernel::odometry::ComputeOdometryResultHybrid ( 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 
)

◆ ComputeOdometryResultHybridCPU()

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 
)

◆ ComputeOdometryResultIntensity()

void open3d::t::pipelines::kernel::odometry::ComputeOdometryResultIntensity ( 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 
)

◆ ComputeOdometryResultIntensityCPU()

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 
)

◆ ComputeOdometryResultPointToPlane()

void open3d::t::pipelines::kernel::odometry::ComputeOdometryResultPointToPlane ( 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 
)

◆ ComputeOdometryResultPointToPlaneCPU()

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 
)

◆ GetJacobianHybrid()

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 
)
inline

◆ GetJacobianIntensity()

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 
)
inline

◆ GetJacobianPointToPlane()

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 
)
inline

◆ GetJacobianPointToPoint()

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 
)
inline

◆ HuberDeriv()

OPEN3D_HOST_DEVICE float open3d::t::pipelines::kernel::odometry::HuberDeriv ( float  r,
float  delta 
)
inline

◆ HuberLoss()

OPEN3D_HOST_DEVICE float open3d::t::pipelines::kernel::odometry::HuberLoss ( float  r,
float  delta 
)
inline
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