Open3D (C++ API)  0.19.0
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Data Structures | Typedefs | Functions
open3d::t::geometry::kernel::voxel_grid Namespace Reference

Data Structures

struct  Coord3i
struct  Coord3iHash
struct  MiniVecCache

Typedefs

using index_t = int
using ArrayIndexer = TArrayIndexer<index_t>

Functions

void PointCloudTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
void DepthTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
void GetVoxelCoordinatesAndFlattenedIndices (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
void Integrate (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void EstimateRange (const core::Tensor &block_keys, core::Tensor &range_minmax_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int down_factor, int64_t block_resolution, float voxel_size, float depth_min, float depth_max, core::Tensor &fragment_buffer)
void RayCast (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
void ExtractPointCloud (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, int &valid_size)
void ExtractTriangleMesh (const core::Tensor &block_indices, const core::Tensor &inv_block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, int &vertex_count)
void PointCloudTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
 CPU.
void DepthTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
void GetVoxelCoordinatesAndFlattenedIndicesCPU (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
template<typename input_depth_t, typename input_color_t, typename tsdf_t, typename weight_t, typename color_t>
void IntegrateCPU (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void EstimateRangeCPU (const core::Tensor &block_keys, core::Tensor &range_minmax_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int down_factor, int64_t block_resolution, float voxel_size, float depth_min, float depth_max, core::Tensor &fragment_buffer)
template<typename tsdf_t, typename weight_t, typename color_t>
void RayCastCPU (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
template<typename tsdf_t, typename weight_t, typename color_t>
void ExtractPointCloudCPU (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &valid_size)
template<typename tsdf_t, typename weight_t, typename color_t>
void ExtractTriangleMeshCPU (const core::Tensor &block_indices, const core::Tensor &inv_block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &vertex_count)
template void IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void IntegrateCPU< uint16_t, uint8_t, float, float, float > (FN_ARGUMENTS)
template void IntegrateCPU< float, float, float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void IntegrateCPU< float, float, float, float, float > (FN_ARGUMENTS)
template void RayCastCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void RayCastCPU< float, float, float > (FN_ARGUMENTS)
template void ExtractPointCloudCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void ExtractPointCloudCPU< float, float, float > (FN_ARGUMENTS)
template void ExtractTriangleMeshCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void ExtractTriangleMeshCPU< float, float, float > (FN_ARGUMENTS)
OPEN3D_DEVICE index_t DeviceGetLinearIdx (index_t xo, index_t yo, index_t zo, index_t curr_block_idx, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)
template<typename tsdf_t>
OPEN3D_DEVICE void DeviceGetNormal (const tsdf_t *tsdf_base_ptr, index_t xo, index_t yo, index_t zo, index_t curr_block_idx, float *n, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)

Typedef Documentation

◆ ArrayIndexer

using open3d::t::geometry::kernel::voxel_grid::ArrayIndexer = TArrayIndexer<index_t>

◆ index_t

using open3d::t::geometry::kernel::voxel_grid::index_t = int

Function Documentation

◆ DepthTouch()

void open3d::t::geometry::kernel::voxel_grid::DepthTouch ( std::shared_ptr< core::HashMap > & hashmap,
const core::Tensor & depth,
const core::Tensor & intrinsic,
const core::Tensor & extrinsic,
core::Tensor & voxel_block_coords,
index_t voxel_grid_resolution,
float voxel_size,
float sdf_trunc,
float depth_scale,
float depth_max,
index_t stride )

◆ DepthTouchCPU()

void open3d::t::geometry::kernel::voxel_grid::DepthTouchCPU ( std::shared_ptr< core::HashMap > & hashmap,
const core::Tensor & depth,
const core::Tensor & intrinsic,
const core::Tensor & extrinsic,
core::Tensor & voxel_block_coords,
index_t voxel_grid_resolution,
float voxel_size,
float sdf_trunc,
float depth_scale,
float depth_max,
index_t stride )

◆ DeviceGetLinearIdx()

OPEN3D_DEVICE index_t open3d::t::geometry::kernel::voxel_grid::DeviceGetLinearIdx ( index_t xo,
index_t yo,
index_t zo,
index_t curr_block_idx,
index_t resolution,
const ArrayIndexer & nb_block_masks_indexer,
const ArrayIndexer & nb_block_indices_indexer )
inline

◆ DeviceGetNormal()

template<typename tsdf_t>
OPEN3D_DEVICE void open3d::t::geometry::kernel::voxel_grid::DeviceGetNormal ( const tsdf_t * tsdf_base_ptr,
index_t xo,
index_t yo,
index_t zo,
index_t curr_block_idx,
float * n,
index_t resolution,
const ArrayIndexer & nb_block_masks_indexer,
const ArrayIndexer & nb_block_indices_indexer )
inline

◆ EstimateRange()

void open3d::t::geometry::kernel::voxel_grid::EstimateRange ( const core::Tensor & block_keys,
core::Tensor & range_minmax_map,
const core::Tensor & intrinsics,
const core::Tensor & extrinsics,
int h,
int w,
int down_factor,
int64_t block_resolution,
float voxel_size,
float depth_min,
float depth_max,
core::Tensor & fragment_buffer )

◆ EstimateRangeCPU()

void open3d::t::geometry::kernel::voxel_grid::EstimateRangeCPU ( const core::Tensor & block_keys,
core::Tensor & range_minmax_map,
const core::Tensor & intrinsics,
const core::Tensor & extrinsics,
int h,
int w,
int down_factor,
int64_t block_resolution,
float voxel_size,
float depth_min,
float depth_max,
core::Tensor & fragment_buffer )

◆ ExtractPointCloud()

void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloud ( const core::Tensor & block_indices,
const core::Tensor & nb_block_indices,
const core::Tensor & nb_block_masks,
const core::Tensor & block_keys,
const TensorMap & block_value_map,
core::Tensor & points,
core::Tensor & normals,
core::Tensor & colors,
index_t block_resolution,
float voxel_size,
float weight_threshold,
int & valid_size )

◆ ExtractPointCloudCPU()

template<typename tsdf_t, typename weight_t, typename color_t>
void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU ( const core::Tensor & block_indices,
const core::Tensor & nb_block_indices,
const core::Tensor & nb_block_masks,
const core::Tensor & block_keys,
const TensorMap & block_value_map,
core::Tensor & points,
core::Tensor & normals,
core::Tensor & colors,
index_t block_resolution,
float voxel_size,
float weight_threshold,
index_t & valid_size )

Coordinate transform

◆ ExtractPointCloudCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, float, float > ( FN_ARGUMENTS )

◆ ExtractPointCloudCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS )

◆ ExtractTriangleMesh()

void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMesh ( const core::Tensor & block_indices,
const core::Tensor & inv_block_indices,
const core::Tensor & nb_block_indices,
const core::Tensor & nb_block_masks,
const core::Tensor & block_keys,
const TensorMap & block_value_map,
core::Tensor & vertices,
core::Tensor & triangles,
core::Tensor & vertex_normals,
core::Tensor & vertex_colors,
index_t block_resolution,
float voxel_size,
float weight_threshold,
int & vertex_count )

◆ ExtractTriangleMeshCPU()

template<typename tsdf_t, typename weight_t, typename color_t>
void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU ( const core::Tensor & block_indices,
const core::Tensor & inv_block_indices,
const core::Tensor & nb_block_indices,
const core::Tensor & nb_block_masks,
const core::Tensor & block_keys,
const TensorMap & block_value_map,
core::Tensor & vertices,
core::Tensor & triangles,
core::Tensor & vertex_normals,
core::Tensor & vertex_colors,
index_t block_resolution,
float voxel_size,
float weight_threshold,
index_t & vertex_count )

◆ ExtractTriangleMeshCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, float, float > ( FN_ARGUMENTS )

◆ ExtractTriangleMeshCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS )

◆ GetVoxelCoordinatesAndFlattenedIndices()

void open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndices ( const core::Tensor & buf_indices,
const core::Tensor & block_keys,
core::Tensor & voxel_coords,
core::Tensor & flattened_indices,
index_t block_resolution,
float voxel_size )

◆ GetVoxelCoordinatesAndFlattenedIndicesCPU()

void open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndicesCPU ( const core::Tensor & buf_indices,
const core::Tensor & block_keys,
core::Tensor & voxel_coords,
core::Tensor & flattened_indices,
index_t block_resolution,
float voxel_size )

◆ Integrate()

void open3d::t::geometry::kernel::voxel_grid::Integrate ( const core::Tensor & depth,
const core::Tensor & color,
const core::Tensor & block_indices,
const core::Tensor & block_keys,
TensorMap & block_value_map,
const core::Tensor & depth_intrinsic,
const core::Tensor & color_intrinsic,
const core::Tensor & extrinsic,
index_t resolution,
float voxel_size,
float sdf_trunc,
float depth_scale,
float depth_max )

◆ IntegrateCPU()

template<typename input_depth_t, typename input_color_t, typename tsdf_t, typename weight_t, typename color_t>
void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU ( const core::Tensor & depth,
const core::Tensor & color,
const core::Tensor & block_indices,
const core::Tensor & block_keys,
TensorMap & block_value_map,
const core::Tensor & depth_intrinsic,
const core::Tensor & color_intrinsic,
const core::Tensor & extrinsic,
index_t resolution,
float voxel_size,
float sdf_trunc,
float depth_scale,
float depth_max )

Coordinate transform

◆ IntegrateCPU< float, float, float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, float, float > ( FN_ARGUMENTS )

◆ IntegrateCPU< float, float, float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, uint16_t, uint16_t > ( FN_ARGUMENTS )

◆ IntegrateCPU< uint16_t, uint8_t, float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, float, float > ( FN_ARGUMENTS )

◆ IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t > ( FN_ARGUMENTS )

◆ PointCloudTouch()

void open3d::t::geometry::kernel::voxel_grid::PointCloudTouch ( std::shared_ptr< core::HashMap > & hashmap,
const core::Tensor & points,
core::Tensor & voxel_block_coords,
index_t voxel_grid_resolution,
float voxel_size,
float sdf_trunc )

◆ PointCloudTouchCPU()

void open3d::t::geometry::kernel::voxel_grid::PointCloudTouchCPU ( std::shared_ptr< core::HashMap > & hashmap,
const core::Tensor & points,
core::Tensor & voxel_block_coords,
index_t voxel_grid_resolution,
float voxel_size,
float sdf_trunc )

CPU.

◆ RayCast()

void open3d::t::geometry::kernel::voxel_grid::RayCast ( std::shared_ptr< core::HashMap > & hashmap,
const TensorMap & block_value_map,
const core::Tensor & range_map,
TensorMap & renderings_map,
const core::Tensor & intrinsic,
const core::Tensor & extrinsic,
index_t h,
index_t w,
index_t block_resolution,
float voxel_size,
float depth_scale,
float depth_min,
float depth_max,
float weight_threshold,
float trunc_voxel_multiplier,
int range_map_down_factor )

◆ RayCastCPU()

template<typename tsdf_t, typename weight_t, typename color_t>
void open3d::t::geometry::kernel::voxel_grid::RayCastCPU ( std::shared_ptr< core::HashMap > & hashmap,
const TensorMap & block_value_map,
const core::Tensor & range_map,
TensorMap & renderings_map,
const core::Tensor & intrinsic,
const core::Tensor & extrinsic,
index_t h,
index_t w,
index_t block_resolution,
float voxel_size,
float depth_scale,
float depth_min,
float depth_max,
float weight_threshold,
float trunc_voxel_multiplier,
int range_map_down_factor )

◆ RayCastCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, float, float > ( FN_ARGUMENTS )

◆ RayCastCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS )
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