VoxelBlockGridImpl.h File Reference

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

#include <atomic>
#include <cmath>
#include "open3d/core/Dispatch.h"
#include "open3d/core/Dtype.h"
#include "open3d/core/MemoryManager.h"
#include "open3d/core/SizeVector.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/hashmap/Dispatch.h"
#include "open3d/t/geometry/Utility.h"
#include "open3d/t/geometry/kernel/GeometryIndexer.h"
#include "open3d/t/geometry/kernel/GeometryMacros.h"
#include "open3d/t/geometry/kernel/VoxelBlockGrid.h"
#include "open3d/utility/Logging.h"
#include "open3d/utility/Timer.h"

Go to the source code of this file.

Data Structures
struct	open3d::t::geometry::kernel::voxel_grid::MiniVecCache

Namespaces
	open3d
	open3d::t
	open3d::t::geometry
	open3d::t::geometry::kernel
	open3d::t::geometry::kernel::voxel_grid

Typedefs
using	open3d::t::geometry::kernel::voxel_grid::ArrayIndexer = TArrayIndexer< index_t >

Functions
void	open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndicesCPU (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
OPEN3D_DEVICE index_t	open3d::t::geometry::kernel::voxel_grid::DeviceGetLinearIdx (index_t xo, index_t yo, index_t zo, index_t curr_block_idx, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)
template<typename tsdf_t >
OPEN3D_DEVICE void	open3d::t::geometry::kernel::voxel_grid::DeviceGetNormal (const tsdf_t *tsdf_base_ptr, index_t xo, index_t yo, index_t zo, index_t curr_block_idx, float *n, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)
template<typename input_depth_t , typename input_color_t , typename tsdf_t , typename weight_t , typename color_t >
void	open3d::t::geometry::kernel::voxel_grid::IntegrateCPU (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void	open3d::t::geometry::kernel::voxel_grid::EstimateRangeCPU (const core::Tensor &block_keys, core::Tensor &range_minmax_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int down_factor, int64_t block_resolution, float voxel_size, float depth_min, float depth_max, core::Tensor &fragment_buffer)
template<typename tsdf_t , typename weight_t , typename color_t >
void	open3d::t::geometry::kernel::voxel_grid::RayCastCPU (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
template<typename tsdf_t , typename weight_t , typename color_t >
void	open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &valid_size)
template<typename tsdf_t , typename weight_t , typename color_t >
void	open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU (const core::Tensor &block_indices, const core::Tensor &inv_block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &vertex_count)