#include <ControlGrid.h>
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| | ControlGrid ()=default |
| | Default constructor. More...
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| | ControlGrid (float grid_size, int64_t grid_count=1000, const core::Device &device=core::Device("CPU:0")) |
| | Constructor with initial grid size and grid count estimation. More...
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| | ControlGrid (float grid_size, const core::Tensor &keys, const core::Tensor &values, const core::Device &device=core::Device("CPU:0")) |
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| void | Touch (const geometry::PointCloud &pcd) |
| | Allocate control grids in the shared camera space. More...
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| void | Compactify () |
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| std::tuple< core::Tensor, core::Tensor, core::Tensor > | GetNeighborGridMap () |
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| geometry::PointCloud | Parameterize (const geometry::PointCloud &pcd) |
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| geometry::PointCloud | Deform (const geometry::PointCloud &pcd) |
| | Non-rigidly deform a point cloud using the control grid. More...
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| geometry::Image | Deform (const geometry::Image &depth, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max) |
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| geometry::RGBDImage | Deform (const geometry::RGBDImage &rgbd, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max) |
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| core::Tensor | GetInitPositions () |
| | Get control grid original positions directly from tensor keys. More...
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| core::Tensor | GetCurrPositions () |
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| std::shared_ptr< core::HashMap > | GetHashMap () |
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| int64_t | Size () |
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| core::Device | GetDevice () |
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| int64_t | GetAnchorIdx () |
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ControlGrid is a spatially hashed voxel grid used for non-rigid point cloud registration and TSDF integration. Each grid stores a map from the initial grid location to the deformed location. You can imagine a control grid as a jelly that is warped upon perturbation with its overall shape preserved. Reference: https://github.com/qianyizh/ElasticReconstruction/blob/master/FragmentOptimizer/OptApp.cpp http://vladlen.info/papers/elastic-fragments.pdf
◆ ControlGrid() [1/3]
| open3d::t::pipelines::slac::ControlGrid::ControlGrid |
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◆ ControlGrid() [2/3]
| open3d::t::pipelines::slac::ControlGrid::ControlGrid |
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float |
grid_size, |
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int64_t |
grid_count = 1000, |
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const core::Device & |
device = core::Device("CPU:0") |
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Constructor with initial grid size and grid count estimation.
◆ ControlGrid() [3/3]
Constructor with known keys (Int32 x 3 positions) and values (Float32 x 3 shifted positions).
◆ Compactify()
| void open3d::t::pipelines::slac::ControlGrid::Compactify |
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Force rehashing, so that all entries are remapped to [0, size) and form a contiguous index map.
◆ Deform() [1/3]
Non-rigidly deform a depth image by
- unprojecting the depth image to a point cloud;
- deform the point cloud;
- project the deformed point cloud back to the image.
◆ Deform() [2/3]
Non-rigidly deform a point cloud using the control grid.
◆ Deform() [3/3]
Non-rigidly deform an RGBD image by
- unprojecting the depth image to a point cloud;
- deform the point cloud;
- project the deformed point cloud back to the image.
◆ GetAnchorIdx()
| int64_t open3d::t::pipelines::slac::ControlGrid::GetAnchorIdx |
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◆ GetCurrPositions()
| core::Tensor open3d::t::pipelines::slac::ControlGrid::GetCurrPositions |
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Get control grid shifted positions from tensor values (optimized in-place).
◆ GetDevice()
| core::Device open3d::t::pipelines::slac::ControlGrid::GetDevice |
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◆ GetHashMap()
| std::shared_ptr<core::HashMap> open3d::t::pipelines::slac::ControlGrid::GetHashMap |
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◆ GetInitPositions()
| core::Tensor open3d::t::pipelines::slac::ControlGrid::GetInitPositions |
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Get control grid original positions directly from tensor keys.
◆ GetNeighborGridMap()
Get the neighbor indices per grid to construct the regularizer.
- Returns
- A 6-way neighbor grid map for all the active entries of shape (N, ).
- buf_indices Active indices in the buffer of shape (N, )
- buf_indices_nb Neighbor indices (including non-allocated entries) for the active entries of shape (N, 6).
- masks_nb Corresponding neighbor masks of shape (N, 6).
◆ Parameterize()
Parameterize an input point cloud by embedding each point in the grid with 8 corners via indexing and interpolation.
- Returns
- A PointCloud with parameterization attributes:
- neighbors: Index of 8 neighbor control grid points of shape (8, ) in Int64.
- ratios: Interpolation ratios of 8 neighbor control grid points of shape (8, ) in Float32.
TODO(wei): allow entries with less than 8 neighbors, probably in a kernel. Now we simply discard them and only accepts points with all 8 neighbors in the control grid map.
◆ Size()
| int64_t open3d::t::pipelines::slac::ControlGrid::Size |
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◆ Touch()
Allocate control grids in the shared camera space.
◆ kGrid8NbIndices
| const std::string open3d::t::pipelines::slac::ControlGrid::kGrid8NbIndices = "Grid8NbIndices" |
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Attributes used to extend the point cloud to support neighbor lookup. 8 neighbor grid index per point.
◆ kGrid8NbNormalInterpRatios
| const std::string open3d::t::pipelines::slac::ControlGrid::kGrid8NbNormalInterpRatios |
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Initial value:=
"Grid8NbNormalInterpRatios"
8 neighbor grid interpolation ratio for normal per point.
◆ kGrid8NbVertexInterpRatios
| const std::string open3d::t::pipelines::slac::ControlGrid::kGrid8NbVertexInterpRatios |
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Initial value:=
"Grid8NbVertexInterpRatios"
8 neighbor grid interpolation ratio for vertex per point.
The documentation for this class was generated from the following files:
1.9.1