open3d::t::pipelines::kernel::odometry::TransformIndexer Class Reference

Helper class for converting coordinates/indices between 3D/3D, 3D/2D, 2D/3D. More...

#include <GeometryIndexer.h>

Public Member Functions
	TransformIndexer (const core::Tensor &intrinsics, const core::Tensor &extrinsics, float scale=1.0f)
OPEN3D_HOST_DEVICE void	RigidTransform (float x_in, float y_in, float z_in, float *x_out, float *y_out, float *z_out) const
	Transform a 3D coordinate in camera coordinate to world coordinate.
OPEN3D_HOST_DEVICE void	Rotate (float x_in, float y_in, float z_in, float *x_out, float *y_out, float *z_out) const
	Transform a 3D coordinate in camera coordinate to world coordinate.
OPEN3D_HOST_DEVICE void	Project (float x_in, float y_in, float z_in, float *u_out, float *v_out) const
	Project a 3D coordinate in camera coordinate to a 2D uv coordinate.
OPEN3D_HOST_DEVICE void	Unproject (float u_in, float v_in, float d_in, float *x_out, float *y_out, float *z_out) const
	Unproject a 2D uv coordinate with depth to 3D in camera coordinate.
OPEN3D_HOST_DEVICE void	GetFocalLength (float *fx, float *fy) const
OPEN3D_HOST_DEVICE void	GetCameraPosition (float *x, float *y, float *z) const

Detailed Description

Helper class for converting coordinates/indices between 3D/3D, 3D/2D, 2D/3D.

Constructor & Destructor Documentation

TransformIndexer()

open3d::t::geometry::kernel::TransformIndexer::TransformIndexer ( const core::Tensor & intrinsics, const core::Tensor & extrinsics, float scale = 1.0f )

inline

intrinsic: simple pinhole camera matrix, stored in fx, fy, cx, cy extrinsic: world to camera transform, stored in a 3x4 matrix

Member Function Documentation

GetCameraPosition()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::GetCameraPosition ( float * x, float * y, float * z ) const

inline

GetFocalLength()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::GetFocalLength ( float * fx, float * fy ) const

inline

Project()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Project ( float x_in, float y_in, float z_in, float * u_out, float * v_out ) const

inline

Project a 3D coordinate in camera coordinate to a 2D uv coordinate.

RigidTransform()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::RigidTransform ( float x_in, float y_in, float z_in, float * x_out, float * y_out, float * z_out ) const

inline

Transform a 3D coordinate in camera coordinate to world coordinate.

Rotate()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Rotate ( float x_in, float y_in, float z_in, float * x_out, float * y_out, float * z_out ) const

inline

Transform a 3D coordinate in camera coordinate to world coordinate.

Unproject()

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Unproject ( float u_in, float v_in, float d_in, float * x_out, float * y_out, float * z_out ) const

inline

Unproject a 2D uv coordinate with depth to 3D in camera coordinate.

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

• cpp/open3d/t/geometry/kernel/GeometryIndexer.h