Open3D (C++ API)  0.19.0
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RGBDOdometry.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include "open3d/core/Tensor.h"
11
12namespace open3d {
13namespace t {
14namespace pipelines {
15namespace kernel {
16namespace 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
30void 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
45void 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
63void 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
double t
Definition SurfaceReconstructionPoisson.cpp:172
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