RegistrationImpl.h File Reference

(9238339 (Tue Mar 14 18:49:09 2023 -0700))

#include "open3d/core/CUDAUtils.h"
#include "open3d/core/Tensor.h"
#include "open3d/t/pipelines/registration/RobustKernel.h"

Go to the source code of this file.

Namespaces
	open3d
	open3d::t
	open3d::t::pipelines
	open3d::t::pipelines::kernel

Functions
void	open3d::t::pipelines::kernel::ComputePosePointToPlaneCPU (const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel)
void	open3d::t::pipelines::kernel::ComputePoseColoredICPCPU (const core::Tensor &source_points, const core::Tensor &source_colors, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel, const double &lambda_geometric)
void	open3d::t::pipelines::kernel::ComputeRtPointToPointCPU (const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &corres, core::Tensor &R, core::Tensor &t, int &inlier_count, const core::Dtype &dtype, const core::Device &device)
void	open3d::t::pipelines::kernel::ComputeInformationMatrixCPU (const core::Tensor &target_points, const core::Tensor &correspondence_indices, core::Tensor &information_matrix, const core::Dtype &dtype, const core::Device &device)
template<typename scalar_t >
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::GetJacobianPointToPlane (int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const int64_t *correspondence_indices, scalar_t *J_ij, scalar_t &r)
template bool	open3d::t::pipelines::kernel::GetJacobianPointToPlane (int64_t workload_idx, const float *source_points_ptr, const float *target_points_ptr, const float *target_normals_ptr, const int64_t *correspondence_indices, float *J_ij, float &r)
template bool	open3d::t::pipelines::kernel::GetJacobianPointToPlane (int64_t workload_idx, const double *source_points_ptr, const double *target_points_ptr, const double *target_normals_ptr, const int64_t *correspondence_indices, double *J_ij, double &r)
template<typename scalar_t >
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::GetJacobianColoredICP (const int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *source_colors_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const scalar_t *target_colors_ptr, const scalar_t *target_color_gradients_ptr, const int64_t *correspondence_indices, const scalar_t &sqrt_lambda_geometric, const scalar_t &sqrt_lambda_photometric, scalar_t *J_G, scalar_t *J_I, scalar_t &r_G, scalar_t &r_I)
template bool	open3d::t::pipelines::kernel::GetJacobianColoredICP (const int64_t workload_idx, const float *source_points_ptr, const float *source_colors_ptr, const float *target_points_ptr, const float *target_normals_ptr, const float *target_colors_ptr, const float *target_color_gradients_ptr, const int64_t *correspondence_indices, const float &sqrt_lambda_geometric, const float &sqrt_lambda_photometric, float *J_G, float *J_I, float &r_G, float &r_I)
template bool	open3d::t::pipelines::kernel::GetJacobianColoredICP (const int64_t workload_idx, const double *source_points_ptr, const double *source_colors_ptr, const double *target_points_ptr, const double *target_normals_ptr, const double *target_colors_ptr, const double *target_color_gradients_ptr, const int64_t *correspondence_indices, const double &sqrt_lambda_geometric, const double &sqrt_lambda_photometric, double *J_G, double *J_I, double &r_G, double &r_I)
template<typename scalar_t >
OPEN3D_HOST_DEVICE bool	open3d::t::pipelines::kernel::GetInformationJacobians (int64_t workload_idx, const scalar_t *target_points_ptr, const int64_t *correspondence_indices, scalar_t *jacobian_x, scalar_t *jacobian_y, scalar_t *jacobian_z)
template bool	open3d::t::pipelines::kernel::GetInformationJacobians (int64_t workload_idx, const float *target_points_ptr, const int64_t *correspondence_indices, float *jacobian_x, float *jacobian_y, float *jacobian_z)
template bool	open3d::t::pipelines::kernel::GetInformationJacobians (int64_t workload_idx, const double *target_points_ptr, const int64_t *correspondence_indices, double *jacobian_x, double *jacobian_y, double *jacobian_z)