49 typedef std::vector<Eigen::Vector4i, utility::Vector4i_allocator>
65 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
66 std::vector<double> &r,
72 const Eigen::Matrix3d &intrinsic,
73 const Eigen::Matrix4d &extrinsic,
91 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
92 std::vector<double> &r,
98 const Eigen::Matrix3d &intrinsic,
99 const Eigen::Matrix4d &extrinsic,
116 std::vector<Eigen::Vector6d, utility::Vector6d_allocator> &J_r,
117 std::vector<double> &r,
123 const Eigen::Matrix3d &intrinsic,
124 const Eigen::Matrix4d &extrinsic,
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:53
Definition: RGBDImage.h:43
Definition: RGBDOdometryJacobian.h:83
~RGBDOdometryJacobianFromColorTerm() override
Definition: RGBDOdometryJacobian.h:86
void ComputeJacobianAndResidual(int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > &J_r, std::vector< double > &r, 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
Definition: RGBDOdometryJacobian.cpp:43
RGBDOdometryJacobianFromColorTerm()
Definition: RGBDOdometryJacobian.h:85
Definition: RGBDOdometryJacobian.h:108
~RGBDOdometryJacobianFromHybridTerm() override
Definition: RGBDOdometryJacobian.h:111
void ComputeJacobianAndResidual(int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > &J_r, std::vector< double > &r, 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
Definition: RGBDOdometryJacobian.cpp:86
RGBDOdometryJacobianFromHybridTerm()
Definition: RGBDOdometryJacobian.h:110
Base class that computes Jacobian from two RGB-D images.
Definition: RGBDOdometryJacobian.h:53
virtual ~RGBDOdometryJacobian()
Definition: RGBDOdometryJacobian.h:56
RGBDOdometryJacobian()
Definition: RGBDOdometryJacobian.h:55
virtual void ComputeJacobianAndResidual(int row, std::vector< Eigen::Vector6d, utility::Vector6d_allocator > &J_r, std::vector< double > &r, 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
std::vector< Eigen::Vector4i, utility::Vector4i_allocator > CorrespondenceSetPixelWise
Definition: RGBDOdometryJacobian.h:50
Definition: PinholeCameraIntrinsic.cpp:34