RGBDOdometryJacobian.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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