Open3D (C++ API)
Public Member Functions
open3d::color_map::ColorMapOptimizationJacobian Class Reference

#include <ColorMapOptimizationJacobian.h>

Public Member Functions

 ColorMapOptimizationJacobian ()
 
void ComputeJacobianAndResidualRigid (int row, Eigen::Vector6d &J_r, double &r, const geometry::TriangleMesh &mesh, const std::vector< double > &proxy_intensity, const std::shared_ptr< geometry::Image > &images_gray, const std::shared_ptr< geometry::Image > &images_dx, const std::shared_ptr< geometry::Image > &images_dy, const Eigen::Matrix4d &intrinsic, const Eigen::Matrix4d &extrinsic, const std::vector< int > &visiblity_image_to_vertex, const int image_boundary_margin)
 
void ComputeJacobianAndResidualNonRigid (int row, Eigen::Vector14d &J_r, double &r, Eigen::Vector14i &pattern, const geometry::TriangleMesh &mesh, const std::vector< double > &proxy_intensity, const std::shared_ptr< geometry::Image > &images_gray, const std::shared_ptr< geometry::Image > &images_dx, const std::shared_ptr< geometry::Image > &images_dy, const ImageWarpingField &warping_fields, const ImageWarpingField &warping_fields_init, const Eigen::Matrix4d &intrinsic, const Eigen::Matrix4d &extrinsic, const std::vector< int > &visiblity_image_to_vertex, const int image_boundary_margin)
 

Constructor & Destructor Documentation

◆ ColorMapOptimizationJacobian()

open3d::color_map::ColorMapOptimizationJacobian::ColorMapOptimizationJacobian ( )
inline

Member Function Documentation

◆ ComputeJacobianAndResidualNonRigid()

void open3d::color_map::ColorMapOptimizationJacobian::ComputeJacobianAndResidualNonRigid ( int  row,
Eigen::Vector14d J_r,
double &  r,
Eigen::Vector14i pattern,
const geometry::TriangleMesh mesh,
const std::vector< double > &  proxy_intensity,
const std::shared_ptr< geometry::Image > &  images_gray,
const std::shared_ptr< geometry::Image > &  images_dx,
const std::shared_ptr< geometry::Image > &  images_dy,
const ImageWarpingField warping_fields,
const ImageWarpingField warping_fields_init,
const Eigen::Matrix4d &  intrinsic,
const Eigen::Matrix4d &  extrinsic,
const std::vector< int > &  visiblity_image_to_vertex,
const int  image_boundary_margin 
)

Function to compute i-th row of J and r The vector form of J_r is basically 14x1 matrix. This function can take additional matrix multiplication pattern to avoid full matrix multiplication

◆ ComputeJacobianAndResidualRigid()

void open3d::color_map::ColorMapOptimizationJacobian::ComputeJacobianAndResidualRigid ( int  row,
Eigen::Vector6d J_r,
double &  r,
const geometry::TriangleMesh mesh,
const std::vector< double > &  proxy_intensity,
const std::shared_ptr< geometry::Image > &  images_gray,
const std::shared_ptr< geometry::Image > &  images_dx,
const std::shared_ptr< geometry::Image > &  images_dy,
const Eigen::Matrix4d &  intrinsic,
const Eigen::Matrix4d &  extrinsic,
const std::vector< int > &  visiblity_image_to_vertex,
const int  image_boundary_margin 
)

Function to compute i-th row of J and r the vector form of J_r is basically 6x1 matrix, but it can be easily extendable to 6xn matrix. See RGBDOdometryJacobianFromHybridTerm for this case.


The documentation for this class was generated from the following files: