Open3D (C++ API)  0.18.0
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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
11
12#pragma once
13
14#include "open3d/core/Tensor.h"
17
18namespace open3d {
19namespace t {
20namespace pipelines {
21namespace odometry {
22
23enum class Method {
24 PointToPlane, // Implemented and commented in
25 // ComputeOdometryResultPointToPlane
26 Intensity, // Implemented and commented in ComputeOdometryResultIntensity
27 Hybrid, // Implemented and commented in ComputeOdometryResultHybrid
28};
29
31public:
41 OdometryConvergenceCriteria(int max_iteration,
42 double relative_rmse = 1e-6,
43 double relative_fitness = 1e-6)
44 : max_iteration_(max_iteration),
45 relative_rmse_(relative_rmse),
46 relative_fitness_(relative_fitness) {}
47
48public:
57};
58
60public:
68 4, core::Float64, core::Device("CPU:0")),
69 double inlier_rmse = 0.0,
70 double fitness = 0.0)
71 : transformation_(transformation),
72 inlier_rmse_(inlier_rmse),
73 fitness_(fitness) {}
74
76
77public:
84 double fitness_;
85};
86
88public:
97 OdometryLossParams(float depth_outlier_trunc = 0.07,
98 float depth_huber_delta = 0.05,
99 float intensity_huber_delta = 0.1)
100 : depth_outlier_trunc_(depth_outlier_trunc),
101 depth_huber_delta_(depth_huber_delta),
102 intensity_huber_delta_(intensity_huber_delta) {
103 if (depth_outlier_trunc_ < 0) {
104 utility::LogWarning(
105 "Depth outlier truncation < 0, outliers will be counted!");
106 }
108 utility::LogWarning(
109 "Huber delta is greater than truncation, huber norm will "
110 "degenerate to L2 norm!");
111 }
112 }
113
114public:
119};
120
146 const t::geometry::RGBDImage& source,
147 const t::geometry::RGBDImage& target,
148 const core::Tensor& intrinsics,
149 const core::Tensor& init_source_to_target =
151 const float depth_scale = 1000.0f,
152 const float depth_max = 3.0f,
153 const std::vector<OdometryConvergenceCriteria>& criteria_list = {10, 5,
154 3},
155 const Method method = Method::Hybrid,
156 const OdometryLossParams& params = OdometryLossParams());
157
184 const core::Tensor& source_vertex_map,
185 const core::Tensor& target_vertex_map,
186 const core::Tensor& target_normal_map,
187 const core::Tensor& intrinsics,
188 const core::Tensor& init_source_to_target,
189 const float depth_outlier_trunc,
190 const float depth_huber_delta);
191
226OdometryResult ComputeOdometryResultIntensity(
227 const core::Tensor& source_depth,
228 const core::Tensor& target_depth,
229 const core::Tensor& source_intensity,
230 const core::Tensor& target_intensity,
231 const core::Tensor& target_intensity_dx,
232 const core::Tensor& target_intensity_dy,
233 const core::Tensor& source_vertex_map,
234 const core::Tensor& intrinsics,
235 const core::Tensor& init_source_to_target,
236 const float depth_outlier_trunc,
237 const float intensity_huber_delta);
238
283OdometryResult ComputeOdometryResultHybrid(
284 const core::Tensor& source_depth,
285 const core::Tensor& target_depth,
286 const core::Tensor& source_intensity,
287 const core::Tensor& target_intensity,
288 const core::Tensor& target_depth_dx,
289 const core::Tensor& target_depth_dy,
290 const core::Tensor& target_intensity_dx,
291 const core::Tensor& target_intensity_dy,
292 const core::Tensor& source_vertex_map,
293 const core::Tensor& intrinsics,
294 const core::Tensor& init_source_to_target,
295 const float depth_outlier_trunc,
296 const float depth_huber_delta,
297 const float intensity_huber_delta);
298
302 const geometry::Image& source_depth,
303 const geometry::Image& target_depth,
304 const core::Tensor& intrinsic,
305 const core::Tensor& source_to_target,
306 const float dist_thr,
307 const float depth_scale = 1000.0f,
308 const float depth_max = 3.0f);
309} // namespace odometry
310} // namespace pipelines
311} // namespace t
312} // namespace open3d
Definition Device.h:18
Definition Tensor.h:32
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition Tensor.cpp:386
The Image class stores image with customizable rows, cols, channels, dtype and device.
Definition Image.h:29
RGBDImage A pair of color and depth images.
Definition RGBDImage.h:21
int max_iteration_
Maximum iteration before iteration stops.
Definition RGBDOdometry.h:50
OdometryConvergenceCriteria(int max_iteration, double relative_rmse=1e-6, double relative_fitness=1e-6)
Constructor for the convergence criteria, where we stop iterations once the criteria are met.
Definition RGBDOdometry.h:41
double relative_fitness_
Definition RGBDOdometry.h:56
float intensity_huber_delta_
Definition RGBDOdometry.h:118
float depth_huber_delta_
Definition RGBDOdometry.h:117
float depth_outlier_trunc_
Depth difference threshold used to filter projective associations.
Definition RGBDOdometry.h:116
OdometryLossParams(float depth_outlier_trunc=0.07, float depth_huber_delta=0.05, float intensity_huber_delta=0.1)
Constructor for the odometry loss function.
Definition RGBDOdometry.h:97
OdometryResult(const core::Tensor &transformation=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), double inlier_rmse=0.0, double fitness=0.0)
Constructor for the odometry result.
Definition RGBDOdometry.h:67
double inlier_rmse_
RMSE of all inlier. Lower is better.
Definition RGBDOdometry.h:81
core::Tensor transformation_
The estimated transformation matrix of dtype Float64 on CPU device.
Definition RGBDOdometry.h:79
~OdometryResult()
Definition RGBDOdometry.h:75
double fitness_
Definition RGBDOdometry.h:84
const Dtype Float64
Definition Dtype.cpp:43
Method
Definition RGBDOdometry.h:23
OdometryResult RGBDOdometryMultiScale(const RGBDImage &source, const RGBDImage &target, const Tensor &intrinsics, const Tensor &init_source_to_target, const float depth_scale, const float depth_max, const std::vector< OdometryConvergenceCriteria > &criteria, const Method method, const OdometryLossParams &params)
Create an RGBD image pyramid given the original source and target RGBD images, and perform hierarchic...
Definition RGBDOdometry.cpp:56
OdometryResult ComputeOdometryResultHybrid(const Tensor &source_depth, const Tensor &target_depth, const Tensor &source_intensity, const Tensor &target_intensity, const Tensor &target_depth_dx, const Tensor &target_depth_dy, const Tensor &target_intensity_dx, const Tensor &target_intensity_dy, const Tensor &source_vertex_map, const Tensor &intrinsics, const Tensor &init_source_to_target, const float depth_outlier_trunc, const float depth_huber_delta, const float intensity_huber_delta)
Estimates the 4x4 rigid transformation T from source to target, with inlier rmse and fitness....
Definition RGBDOdometry.cpp:453
OdometryResult ComputeOdometryResultPointToPlane(const Tensor &source_vertex_map, const Tensor &target_vertex_map, const Tensor &target_normal_map, const Tensor &intrinsics, const Tensor &init_source_to_target, const float depth_outlier_trunc, const float depth_huber_delta)
Estimates the 4x4 rigid transformation T from source to target, with inlier rmse and fitness....
Definition RGBDOdometry.cpp:392
OdometryResult ComputeOdometryResultIntensity(const Tensor &source_depth, const Tensor &target_depth, const Tensor &source_intensity, const Tensor &target_intensity, const Tensor &target_intensity_dx, const Tensor &target_intensity_dy, const Tensor &source_vertex_map, const Tensor &intrinsics, const Tensor &init_source_to_target, const float depth_outlier_trunc, const float intensity_huber_delta)
Estimates the 4x4 rigid transformation T from source to target, with inlier rmse and fitness....
Definition RGBDOdometry.cpp:420
core::Tensor ComputeOdometryInformationMatrix(const geometry::Image &source_depth, const geometry::Image &target_depth, const core::Tensor &intrinsic, const core::Tensor &source_to_target, const float dist_thr, const float depth_scale, const float depth_max)
Definition RGBDOdometry.cpp:489
Definition PinholeCameraIntrinsic.cpp:16