Open3D (C++ API)  0.12.0
EigenConverter.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <vector>
31 
32 #include "open3d/core/Device.h"
33 #include "open3d/core/Dtype.h"
34 #include "open3d/core/Tensor.h"
35 #include "open3d/core/TensorList.h"
36 
37 namespace open3d {
38 namespace core {
39 namespace eigen_converter {
40 
45 template <class T, int M, int N, int A>
46 core::Tensor EigenMatrixToTensor(const Eigen::Matrix<T, M, N, A> &matrix) {
47  core::Dtype dtype = core::Dtype::FromType<T>();
48  Eigen::Matrix<T, M, N, Eigen::RowMajor> matrix_row_major = matrix;
49  return core::Tensor(matrix_row_major.data(), {matrix.rows(), matrix.cols()},
50  dtype);
51 }
52 
59 std::vector<Eigen::Vector3d> TensorToEigenVector3dVector(
60  const core::Tensor &tensor);
61 
68 std::vector<Eigen::Vector3i> TensorToEigenVector3iVector(
69  const core::Tensor &tensor);
70 
80  const std::vector<Eigen::Vector3d> &values,
81  core::Dtype dtype,
82  const core::Device &device);
83 
93  const std::vector<Eigen::Vector3i> &values,
94  core::Dtype dtype,
95  const core::Device &device);
96 
97 } // namespace eigen_converter
98 } // namespace core
99 } // namespace open3d
core::Tensor EigenVector3iVectorToTensor(const std::vector< Eigen::Vector3i > &values, core::Dtype dtype, const core::Device &device)
Definition: EigenConverter.cpp:118
Definition: Dtype.h:39
Definition: Device.h:39
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Tensor.h:48
core::Tensor EigenMatrixToTensor(const Eigen::Matrix< T, M, N, A > &matrix)
Definition: EigenConverter.h:46
core::Tensor EigenVector3dVectorToTensor(const std::vector< Eigen::Vector3d > &values, core::Dtype dtype, const core::Device &device)
Definition: EigenConverter.cpp:111
std::vector< Eigen::Vector3i > TensorToEigenVector3iVector(const core::Tensor &tensor)
Definition: EigenConverter.cpp:106
std::vector< Eigen::Vector3d > TensorToEigenVector3dVector(const core::Tensor &tensor)
Definition: EigenConverter.cpp:101