Helper class for converting coordinates/indices between 3D/3D, 3D/2D, 2D/3D.
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#include <GeometryIndexer.h>
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| | TransformIndexer (const core::Tensor &intrinsics, const core::Tensor &extrinsics, float scale=1.0f) |
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| 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. More...
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| 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. More...
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| 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. More...
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| 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. More...
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| OPEN3D_HOST_DEVICE void | GetFocalLength (float *fx, float *fy) const |
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| OPEN3D_HOST_DEVICE void | GetCameraPosition (float *x, float *y, float *z) const |
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Helper class for converting coordinates/indices between 3D/3D, 3D/2D, 2D/3D.
◆ TransformIndexer()
| open3d::t::geometry::kernel::TransformIndexer::TransformIndexer |
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const core::Tensor & |
intrinsics, |
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const core::Tensor & |
extrinsics, |
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float |
scale = 1.0f |
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intrinsic: simple pinhole camera matrix, stored in fx, fy, cx, cy extrinsic: world to camera transform, stored in a 3x4 matrix
◆ GetCameraPosition()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::GetCameraPosition |
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float * |
x, |
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float * |
y, |
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float * |
z |
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◆ GetFocalLength()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::GetFocalLength |
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float * |
fx, |
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float * |
fy |
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◆ Project()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Project |
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float |
x_in, |
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float |
y_in, |
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float |
z_in, |
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float * |
u_out, |
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float * |
v_out |
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Project a 3D coordinate in camera coordinate to a 2D uv coordinate.
◆ RigidTransform()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::RigidTransform |
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float |
x_in, |
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float |
y_in, |
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float |
z_in, |
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float * |
x_out, |
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float * |
y_out, |
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float * |
z_out |
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Transform a 3D coordinate in camera coordinate to world coordinate.
◆ Rotate()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Rotate |
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float |
x_in, |
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float |
y_in, |
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float |
z_in, |
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float * |
x_out, |
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float * |
y_out, |
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float * |
z_out |
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Transform a 3D coordinate in camera coordinate to world coordinate.
◆ Unproject()
| OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::TransformIndexer::Unproject |
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float |
u_in, |
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float |
v_in, |
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float |
d_in, |
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float * |
x_out, |
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float * |
y_out, |
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float * |
z_out |
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inline |
Unproject a 2D uv coordinate with depth to 3D in camera coordinate.
The documentation for this class was generated from the following file:
1.9.1