open3d::t::geometry::kernel::pointcloud Namespace Reference

Functions
void	Unproject (const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor > > image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor > > colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
void	Project (core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor > > image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor > > colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
void	GetPointMaskWithinAABB (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
void	GetPointMaskWithinOBB (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
void	UnprojectCPU (const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor > > image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor > > colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
void	ProjectCPU (core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor > > image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor > > colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
void	GetPointMaskWithinAABBCPU (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
void	GetPointMaskWithinOBBCPU (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
void	NormalizeNormalsCPU (core::Tensor &normals)
void	OrientNormalsToAlignWithDirectionCPU (core::Tensor &normals, const core::Tensor &direction)
void	OrientNormalsTowardsCameraLocationCPU (const core::Tensor &points, core::Tensor &normals, const core::Tensor &camera)
void	ComputeBoundaryPointsCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &counts, core::Tensor &mask, double angle_threshold)
void	EstimateCovariancesUsingHybridSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)
void	EstimateCovariancesUsingKNNSearchCPU (const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)
void	EstimateCovariancesUsingRadiusSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius)
void	EstimateNormalsFromCovariancesCPU (const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)
void	EstimateColorGradientsUsingHybridSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius, const int64_t &max_nn)
void	EstimateColorGradientsUsingKNNSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const int64_t &max_nn)
void	EstimateColorGradientsUsingRadiusSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	GetCoordinateSystemOnPlane (const scalar_t *query, scalar_t *u, scalar_t *v)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	Swap (scalar_t *x, scalar_t *y)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	Heapify (scalar_t *arr, int n, int root)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	HeapSort (scalar_t *arr, int n)
template<typename scalar_t>
OPEN3D_HOST_DEVICE bool	IsBoundaryPoints (const scalar_t *angles, int counts, double angle_threshold)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	EstimatePointWiseRobustNormalizedCovarianceKernel (const scalar_t *points_ptr, const int32_t *indices_ptr, const int32_t &indices_count, scalar_t *covariance_ptr)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	ComputeEigenvector0 (const scalar_t *A, const scalar_t eval0, scalar_t *eigen_vector0)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	ComputeEigenvector1 (const scalar_t *A, const scalar_t *evec0, const scalar_t eval1, scalar_t *eigen_vector1)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	EstimatePointWiseNormalsWithFastEigen3x3 (const scalar_t *covariance_ptr, scalar_t *normals_ptr)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	EstimatePointWiseColorGradientKernel (const scalar_t *points_ptr, const scalar_t *normals_ptr, const scalar_t *colors_ptr, const int32_t &idx_offset, const int32_t *indices_ptr, const int32_t &indices_count, scalar_t *color_gradients_ptr)

Function Documentation

ComputeBoundaryPointsCPU()

void open3d::t::geometry::kernel::pointcloud::ComputeBoundaryPointsCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	indices,
		const core::Tensor &	counts,
		core::Tensor &	mask,
		double	angle_threshold )

ComputeEigenvector0()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::ComputeEigenvector0	(	const scalar_t *	A,
		const scalar_t	eval0,
		scalar_t *	eigen_vector0 )

ComputeEigenvector1()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::ComputeEigenvector1	(	const scalar_t *	A,
		const scalar_t *	evec0,
		const scalar_t	eval1,
		scalar_t *	eigen_vector1 )

EstimateColorGradientsUsingHybridSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingHybridSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const double &	radius,
		const int64_t &	max_nn )

EstimateColorGradientsUsingKNNSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingKNNSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const int64_t &	max_nn )

EstimateColorGradientsUsingRadiusSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingRadiusSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const double &	radius )

EstimateCovariancesUsingHybridSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingHybridSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const double &	radius,
		const int64_t &	max_nn )

EstimateCovariancesUsingKNNSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingKNNSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const int64_t &	max_nn )

EstimateCovariancesUsingRadiusSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingRadiusSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const double &	radius )

EstimateNormalsFromCovariancesCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateNormalsFromCovariancesCPU	(	const core::Tensor &	covariances,
		core::Tensor &	normals,
		const bool	has_normals )

EstimatePointWiseColorGradientKernel()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseColorGradientKernel	(	const scalar_t *	points_ptr,
		const scalar_t *	normals_ptr,
		const scalar_t *	colors_ptr,
		const int32_t &	idx_offset,
		const int32_t *	indices_ptr,
		const int32_t &	indices_count,
		scalar_t *	color_gradients_ptr )

EstimatePointWiseNormalsWithFastEigen3x3()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseNormalsWithFastEigen3x3	(	const scalar_t *	covariance_ptr,
		scalar_t *	normals_ptr )

EstimatePointWiseRobustNormalizedCovarianceKernel()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseRobustNormalizedCovarianceKernel	(	const scalar_t *	points_ptr,
		const int32_t *	indices_ptr,
		const int32_t &	indices_count,
		scalar_t *	covariance_ptr )

GetCoordinateSystemOnPlane()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::GetCoordinateSystemOnPlane	(	const scalar_t *	query,
		scalar_t *	u,
		scalar_t *	v )

GetPointMaskWithinAABB()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinAABB	(	const core::Tensor &	points,
		const core::Tensor &	min_bound,
		const core::Tensor &	max_bound,
		core::Tensor &	mask )

GetPointMaskWithinAABBCPU()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinAABBCPU	(	const core::Tensor &	points,
		const core::Tensor &	min_bound,
		const core::Tensor &	max_bound,
		core::Tensor &	mask )

GetPointMaskWithinOBB()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinOBB	(	const core::Tensor &	points,
		const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent,
		core::Tensor &	mask )

GetPointMaskWithinOBBCPU()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinOBBCPU	(	const core::Tensor &	points,
		const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent,
		core::Tensor &	mask )

Heapify()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::Heapify ( scalar_t * arr, int n, int root )

inline

HeapSort()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::HeapSort	(	scalar_t *	arr,
		int	n )

IsBoundaryPoints()

template<typename scalar_t>

OPEN3D_HOST_DEVICE bool open3d::t::geometry::kernel::pointcloud::IsBoundaryPoints	(	const scalar_t *	angles,
		int	counts,
		double	angle_threshold )

NormalizeNormalsCPU()

void open3d::t::geometry::kernel::pointcloud::NormalizeNormalsCPU

(

core::Tensor &

normals

)

OrientNormalsToAlignWithDirectionCPU()

void open3d::t::geometry::kernel::pointcloud::OrientNormalsToAlignWithDirectionCPU	(	core::Tensor &	normals,
		const core::Tensor &	direction )

OrientNormalsTowardsCameraLocationCPU()

void open3d::t::geometry::kernel::pointcloud::OrientNormalsTowardsCameraLocationCPU	(	const core::Tensor &	points,
		core::Tensor &	normals,
		const core::Tensor &	camera )

Project()

void open3d::t::geometry::kernel::pointcloud::Project	(	core::Tensor &	depth,
		utility::optional< std::reference_wrapper< core::Tensor > >	image_colors,
		const core::Tensor &	points,
		utility::optional< std::reference_wrapper< const core::Tensor > >	colors,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		float	depth_scale,
		float	depth_max )

ProjectCPU()

void open3d::t::geometry::kernel::pointcloud::ProjectCPU	(	core::Tensor &	depth,
		utility::optional< std::reference_wrapper< core::Tensor > >	image_colors,
		const core::Tensor &	points,
		utility::optional< std::reference_wrapper< const core::Tensor > >	colors,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		float	depth_scale,
		float	depth_max )

Swap()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::Swap ( scalar_t * x, scalar_t * y )

inline

Unproject()

void open3d::t::geometry::kernel::pointcloud::Unproject	(	const core::Tensor &	depth,
		utility::optional< std::reference_wrapper< const core::Tensor > >	image_colors,
		core::Tensor &	points,
		utility::optional< std::reference_wrapper< core::Tensor > >	colors,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		float	depth_scale,
		float	depth_max,
		int64_t	stride )

UnprojectCPU()

void open3d::t::geometry::kernel::pointcloud::UnprojectCPU	(	const core::Tensor &	depth,
		utility::optional< std::reference_wrapper< const core::Tensor > >	image_colors,
		core::Tensor &	points,
		utility::optional< std::reference_wrapper< core::Tensor > >	colors,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		float	depth_scale,
		float	depth_max,
		int64_t	stride )