Data Structures
struct	Point

struct	PointCloud

class	PointXYZ

class	SampledData

Functions
PointXYZ	max_point (std::vector< PointXYZ > points)

PointXYZ	min_point (std::vector< PointXYZ > points)

PointXYZ	operator+ (const PointXYZ A, const PointXYZ B)

PointXYZ	operator- (const PointXYZ A, const PointXYZ B)

PointXYZ	operator* (const PointXYZ P, const float a)

PointXYZ	operator* (const float a, const PointXYZ P)

std::ostream &	operator<< (std::ostream &os, const PointXYZ P)

bool	operator== (const PointXYZ A, const PointXYZ B)

const core::Tensor	KnnSearch (const core::Tensor &query_points, const core::Tensor &dataset_points, int knn)

const core::Tensor	RadiusSearch (const core::Tensor &query_points, const core::Tensor &dataset_points, const core::Tensor &query_batches, const core::Tensor &dataset_batches, double radius)

void	grid_subsampling (std::vector< PointXYZ > &original_points, std::vector< PointXYZ > &subsampled_points, std::vector< float > &original_features, std::vector< float > &subsampled_features, std::vector< int > &original_classes, std::vector< int > &subsampled_classes, float sampleDl, int verbose)

void	batch_grid_subsampling (std::vector< PointXYZ > &original_points, std::vector< PointXYZ > &subsampled_points, std::vector< float > &original_features, std::vector< float > &subsampled_features, std::vector< int > &original_classes, std::vector< int > &subsampled_classes, std::vector< int > &original_batches, std::vector< int > &subsampled_batches, float sampleDl, int max_p)

void	IoUBevCPUKernel (const float boxes_a, const float boxes_b, float *iou, int num_a, int num_b)

void	IoU3dCPUKernel (const float boxes_a, const float boxes_b, float *iou, int num_a, int num_b)

OPEN3D_HOST_DEVICE float	Cross (const Point &a, const Point &b)

OPEN3D_HOST_DEVICE float	Cross (const Point &p1, const Point &p2, const Point &p0)

OPEN3D_HOST_DEVICE int	CheckRectCross (const Point &p1, const Point &p2, const Point &q1, const Point &q2)

OPEN3D_HOST_DEVICE int	CheckInBox2D (const float *box, const Point &p)

OPEN3D_HOST_DEVICE int	Intersection (const Point &p1, const Point &p0, const Point &q1, const Point &q0, Point &ans)

OPEN3D_HOST_DEVICE void	RotateAroundCenter (const Point &center, const float angle_cos, const float angle_sin, Point &p)

OPEN3D_HOST_DEVICE int	PointCmp (const Point &a, const Point &b, const Point &center)

OPEN3D_HOST_DEVICE float	BoxOverlap (const float box_a, const float box_b)

OPEN3D_HOST_DEVICE float	IoUBev2DWithMinAndMax (const float box_a, const float box_b, bool intersection_only=false)
	(x_min, z_min, x_max, z_max, y_rotate) More...

OPEN3D_HOST_DEVICE float	IoUBev2DWithCenterAndSize (const float box_a, const float box_b, bool intersection_only=false)
	(x_center, z_center, x_size, z_size, y_rotate) More...

OPEN3D_HOST_DEVICE float	IoU3DWithCenterAndSize (const float box_a, const float box_b)
	(x_center, y_max, z_center, x_size, y_size, z_size, y_rotate) More...

void	brute_neighbors (std::vector< PointXYZ > &queries, std::vector< PointXYZ > &supports, std::vector< int > &neighbors_indices, float radius, int verbose)

void	ordered_neighbors (std::vector< PointXYZ > &queries, std::vector< PointXYZ > &supports, std::vector< int > &neighbors_indices, float radius)

void	batch_nanoflann_neighbors (std::vector< PointXYZ > &queries, std::vector< PointXYZ > &supports, std::vector< int > &q_batches, std::vector< int > &s_batches, std::vector< int > &neighbors_indices, float radius)

std::vector< int64_t >	NmsCPUKernel (const float boxes, const float scores, int n, double nms_overlap_thresh)

Variables
constexpr int	NMS_BLOCK_SIZE = sizeof(uint64_t) * 8

constexpr float	EPS = static_cast<float>(1e-8)

Function Documentation

◆ batch_grid_subsampling()

void open3d::ml::contrib::batch_grid_subsampling	(	std::vector< PointXYZ > &	original_points,
		std::vector< PointXYZ > &	subsampled_points,
		std::vector< float > &	original_features,
		std::vector< float > &	subsampled_features,
		std::vector< int > &	original_classes,
		std::vector< int > &	subsampled_classes,
		std::vector< int > &	original_batches,
		std::vector< int > &	subsampled_batches,
		float	sampleDl,
		int	max_p
	)

◆ batch_nanoflann_neighbors()

void open3d::ml::contrib::batch_nanoflann_neighbors	(	std::vector< PointXYZ > &	queries,
		std::vector< PointXYZ > &	supports,
		std::vector< int > &	q_batches,
		std::vector< int > &	s_batches,
		std::vector< int > &	neighbors_indices,
		float	radius
	)

TOOD: This is a temporary function for 3DML repositiory use. In the future, the native Open3D Python API should be improved and used.

Nearest neighbours withing a radius with batching. queries and supports are sliced with their respective batch elements. Uses nanoflann to build a KDTree and find neighbors.

◆ BoxOverlap()

OPEN3D_HOST_DEVICE float open3d::ml::contrib::BoxOverlap	(	const float *	box_a,
		const float *	box_b
	)

inline

◆ brute_neighbors()

void open3d::ml::contrib::brute_neighbors	(	std::vector< PointXYZ > &	queries,
		std::vector< PointXYZ > &	supports,
		std::vector< int > &	neighbors_indices,
		float	radius,
		int	verbose
	)

◆ CheckInBox2D()

OPEN3D_HOST_DEVICE int open3d::ml::contrib::CheckInBox2D	(	const float *	box,
		const Point &	p
	)

inline

◆ CheckRectCross()

OPEN3D_HOST_DEVICE int open3d::ml::contrib::CheckRectCross	(	const Point &	p1,
		const Point &	p2,
		const Point &	q1,
		const Point &	q2
	)

inline

◆ Cross() [1/2]

OPEN3D_HOST_DEVICE float open3d::ml::contrib::Cross	(	const Point &	a,
		const Point &	b
	)

inline

◆ Cross() [2/2]

OPEN3D_HOST_DEVICE float open3d::ml::contrib::Cross	(	const Point &	p1,
		const Point &	p2,
		const Point &	p0
	)

inline

◆ grid_subsampling()

void open3d::ml::contrib::grid_subsampling	(	std::vector< PointXYZ > &	original_points,
		std::vector< PointXYZ > &	subsampled_points,
		std::vector< float > &	original_features,
		std::vector< float > &	subsampled_features,
		std::vector< int > &	original_classes,
		std::vector< int > &	subsampled_classes,
		float	sampleDl,
		int	verbose
	)

◆ Intersection()

OPEN3D_HOST_DEVICE int open3d::ml::contrib::Intersection	(	const Point &	p1,
		const Point &	p0,
		const Point &	q1,
		const Point &	q0,
		Point &	ans
	)

inline

◆ IoU3dCPUKernel()

void open3d::ml::contrib::IoU3dCPUKernel	(	const float *	boxes_a,
		const float *	boxes_b,
		float *	iou,
		int	num_a,
		int	num_b
	)

Parameters

boxes_a	(num_a, 7) float32.
boxes_b	(num_b, 7) float32.
iou	(num_a, num_b) float32, output iou values.
num_a	Number of boxes in boxes_a.
num_b	Number of boxes in boxes_b.

◆ IoU3DWithCenterAndSize()

OPEN3D_HOST_DEVICE float open3d::ml::contrib::IoU3DWithCenterAndSize	(	const float *	box_a,
		const float *	box_b
	)

inline

(x_center, y_max, z_center, x_size, y_size, z_size, y_rotate)

◆ IoUBev2DWithCenterAndSize()

OPEN3D_HOST_DEVICE float open3d::ml::contrib::IoUBev2DWithCenterAndSize	(	const float *	box_a,
		const float *	box_b,
		bool	intersection_only = `false`
	)

inline

(x_center, z_center, x_size, z_size, y_rotate)

◆ IoUBev2DWithMinAndMax()

OPEN3D_HOST_DEVICE float open3d::ml::contrib::IoUBev2DWithMinAndMax	(	const float *	box_a,
		const float *	box_b,
		bool	intersection_only = `false`
	)

inline

(x_min, z_min, x_max, z_max, y_rotate)

◆ IoUBevCPUKernel()

void open3d::ml::contrib::IoUBevCPUKernel	(	const float *	boxes_a,
		const float *	boxes_b,
		float *	iou,
		int	num_a,
		int	num_b
	)

Parameters

boxes_a	(num_a, 5) float32.
boxes_b	(num_b, 5) float32.
iou	(num_a, num_b) float32, output iou values.
num_a	Number of boxes in boxes_a.
num_b	Number of boxes in boxes_b.
intersection_only	If true returns intersection, else returns intersection over union.

◆ KnnSearch()

const core::Tensor open3d::ml::contrib::KnnSearch	(	const core::Tensor &	query_points,
		const core::Tensor &	dataset_points,
		int	knn
	)

TOOD: This is a temporary wrapper for 3DML repository use. In the future, the native Open3D Python API should be improved and used.

Parameters

query_points	Tensor of shape {n_query_points, d}, dtype Float32.
dataset_points	Tensor of shape {n_dataset_points, d}, dtype Float32.
knn	Int.

Returns: Tensor of shape (n_query_points, knn), dtype Int32.

TOOD: This is a temory wrapper for 3DML repositiory use. In the future, the native Open3D Python API should be improved and used.

Parameters

query_points	Tensor of shape {n_query_points, d}, dtype Float32.
dataset_points	Tensor of shape {n_dataset_points, d}, dtype Float32.
knn	Int.

Returns: Tensor of shape (n_query_points, knn), dtype Int32.

◆ max_point()

PointXYZ open3d::ml::contrib::max_point ( std::vector< PointXYZ > points )

◆ min_point()

PointXYZ open3d::ml::contrib::min_point ( std::vector< PointXYZ > points )

◆ NmsCPUKernel()

std::vector< int64_t > open3d::ml::contrib::NmsCPUKernel	(	const float *	boxes,
		const float *	scores,
		int	n,
		double	nms_overlap_thresh
	)

Parameters

boxes	(n, 5) float32.
scores	(n,) float32.
n	Number of boxes.
nms_overlap_thresh	When a high-score box is selected, other remaining boxes with IoU > nms_overlap_thresh will be discarded.

Returns: Selected box indices to keep.

◆ operator*() [1/2]

PointXYZ open3d::ml::contrib::operator*	(	const PointXYZ	P,
		const float	a
	)

inline

◆ operator*() [2/2]

PointXYZ open3d::ml::contrib::operator*	(	const float	a,
		const PointXYZ	P
	)

inline

◆ operator+()

PointXYZ open3d::ml::contrib::operator+	(	const PointXYZ	A,
		const PointXYZ	B
	)

inline

◆ operator-()

PointXYZ open3d::ml::contrib::operator-	(	const PointXYZ	A,
		const PointXYZ	B
	)

inline

◆ operator<<()

std::ostream& open3d::ml::contrib::operator<<	(	std::ostream &	os,
		const PointXYZ	P
	)

inline

◆ operator==()

bool open3d::ml::contrib::operator==	(	const PointXYZ	A,
		const PointXYZ	B
	)

inline

◆ ordered_neighbors()

void open3d::ml::contrib::ordered_neighbors	(	std::vector< PointXYZ > &	queries,
		std::vector< PointXYZ > &	supports,
		std::vector< int > &	neighbors_indices,
		float	radius
	)

TOOD: This is a temporary function for 3DML repositiory use. In the future, the native Open3D Python API should be improved and used.

Nearest neighbours within a given radius. For each query point, finds a set of neighbor indices whose distance is less than given radius. Modifies the neighbors_indices inplace.

◆ PointCmp()

OPEN3D_HOST_DEVICE int open3d::ml::contrib::PointCmp	(	const Point &	a,
		const Point &	b,
		const Point &	center
	)

inline

◆ RadiusSearch()

const core::Tensor open3d::ml::contrib::RadiusSearch	(	const core::Tensor &	query_points,
		const core::Tensor &	dataset_points,
		const core::Tensor &	query_batches,
		const core::Tensor &	dataset_batches,
		double	radius
	)

TOOD: This is a temporary wrapper for 3DML repository use. In the future, the native Open3D Python API should be improved and used.

Parameters

query_points	Tensor of shape {n_query_points, d}, dtype Float32.
dataset_points	Tensor of shape {n_dataset_points, d}, dtype Float32.
query_batches	Tensor of shape {n_batches,}, dtype Int32. It is required that sum(query_batches) == n_query_points.
dataset_batches	Tensor of shape {n_batches,}, dtype Int32. It is required that that sum(dataset_batches) == n_dataset_points.
radius	The radius to search.

Returns: Tensor of shape {n_query_points, max_neighbor}, dtype Int32, where max_neighbor is the maximum number neighbor of neighbors for all query points. For query points with less than max_neighbor neighbors, the neighbor index will be padded by -1.

TOOD: This is a temory wrapper for 3DML repositiory use. In the future, the native Open3D Python API should be improved and used.

Parameters

query_points	Tensor of shape {n_query_points, d}, dtype Float32.
dataset_points	Tensor of shape {n_dataset_points, d}, dtype Float32.
query_batches	Tensor of shape {n_batches,}, dtype Int32. It is required that sum(query_batches) == n_query_points.
dataset_batches	Tensor of shape {n_batches,}, dtype Int32. It is required that that sum(dataset_batches) == n_dataset_points.
radius	The radius to search.

Returns: Tensor of shape {n_query_points, max_neighbor}, dtype Int32, where max_neighbor is the maximum number neighbor of neighbors for all query points. For query points with less than max_neighbor neighbors, the neighbor index will be padded by -1.

◆ RotateAroundCenter()

OPEN3D_HOST_DEVICE void open3d::ml::contrib::RotateAroundCenter	(	const Point &	center,
		const float	angle_cos,
		const float	angle_sin,
		Point &	p
	)

inline

Variable Documentation

◆ EPS

constexpr float open3d::ml::contrib::EPS = static_cast<float>(1e-8)

◆ NMS_BLOCK_SIZE

constexpr int open3d::ml::contrib::NMS_BLOCK_SIZE = sizeof(uint64_t) * 8

Data Structures

Functions

Variables

Function Documentation

◆ batch_grid_subsampling()

◆ batch_nanoflann_neighbors()

◆ BoxOverlap()

◆ brute_neighbors()

◆ CheckInBox2D()

◆ CheckRectCross()

◆ Cross() [1/2]

◆ Cross() [2/2]

◆ grid_subsampling()

◆ Intersection()

◆ IoU3dCPUKernel()

◆ IoU3DWithCenterAndSize()

◆ IoUBev2DWithCenterAndSize()

◆ IoUBev2DWithMinAndMax()

◆ IoUBevCPUKernel()

◆ KnnSearch()

◆ max_point()

◆ min_point()

◆ NmsCPUKernel()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+()

◆ operator-()

◆ operator<<()

◆ operator==()

◆ ordered_neighbors()

◆ PointCmp()

◆ RadiusSearch()

◆ RotateAroundCenter()

Variable Documentation

◆ EPS

◆ NMS_BLOCK_SIZE