Open3D (C++ API)  0.18.0+252c867
RGBDOdometry.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include "open3d/core/Tensor.h"
11 
12 namespace open3d {
13 namespace t {
14 namespace pipelines {
15 namespace kernel {
16 namespace odometry {
17 
19  const core::Tensor &source_vertex_map,
20  const core::Tensor &target_vertex_map,
21  const core::Tensor &target_normal_map,
22  const core::Tensor &intrinsics,
23  const core::Tensor &init_source_to_target,
24  core::Tensor &delta,
25  float &inlier_residual,
26  int &inlier_count,
27  const float depth_outlier_trunc,
28  const float depth_huber_delta);
29 
30 void ComputeOdometryResultIntensity(const core::Tensor &source_depth,
31  const core::Tensor &target_depth,
32  const core::Tensor &source_intensity,
33  const core::Tensor &target_intensity,
34  const core::Tensor &target_intensity_dx,
35  const core::Tensor &target_intensity_dy,
36  const core::Tensor &source_vertex_map,
37  const core::Tensor &intrinsics,
38  const core::Tensor &init_source_to_target,
39  core::Tensor &delta,
40  float &inlier_residual,
41  int &inlier_count,
42  const float depth_outlier_trunc,
43  const float intensity_huber_delta);
44 
45 void ComputeOdometryResultHybrid(const core::Tensor &source_depth,
46  const core::Tensor &target_depth,
47  const core::Tensor &source_intensity,
48  const core::Tensor &target_intensity,
49  const core::Tensor &target_depth_dx,
50  const core::Tensor &target_depth_dy,
51  const core::Tensor &target_intensity_dx,
52  const core::Tensor &target_intensity_dy,
53  const core::Tensor &source_vertex_map,
54  const core::Tensor &intrinsics,
55  const core::Tensor &init_source_to_target,
56  core::Tensor &delta,
57  float &inlier_residual,
58  int &inlier_count,
59  const float depth_outlier_trunc,
60  const float depth_huber_delta,
61  const float intensity_huber_delta);
62 
63 void ComputeOdometryInformationMatrix(const core::Tensor &source_vertex_map,
64  const core::Tensor &target_vertex_map,
65  const core::Tensor &intrinsic,
66  const core::Tensor &source_to_target,
67  const float square_dist_thr,
68  core::Tensor &information);
69 
70 } // namespace odometry
71 } // namespace kernel
72 } // namespace pipelines
73 } // namespace t
74 } // namespace open3d
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)
Definition: RGBDOdometry.cpp:66
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)
Definition: RGBDOdometry.cpp:195
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)
Definition: RGBDOdometry.cpp:19
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)
Definition: RGBDOdometry.cpp:126
Definition: PinholeCameraIntrinsic.cpp:16