Open3D (C++ API)  0.17.0
Functions
open3d::t::geometry::kernel::pointcloud Namespace Reference

Functions

void Unproject (const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor >> image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
 
void Project (core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor >> image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
 
void GetPointMaskWithinAABB (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
 
void GetPointMaskWithinOBB (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
 
void UnprojectCPU (const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor >> image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
 
void ProjectCPU (core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor >> image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
 
void GetPointMaskWithinAABBCPU (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
 
void GetPointMaskWithinOBBCPU (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
 
void NormalizeNormalsCPU (core::Tensor &normals)
 
void OrientNormalsToAlignWithDirectionCPU (core::Tensor &normals, const core::Tensor &direction)
 
void OrientNormalsTowardsCameraLocationCPU (const core::Tensor &points, core::Tensor &normals, const core::Tensor &camera)
 
void ComputeBoundaryPointsCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &counts, core::Tensor &mask, double angle_threshold)
 
void EstimateCovariancesUsingHybridSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)
 
void EstimateCovariancesUsingKNNSearchCPU (const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)
 
void EstimateCovariancesUsingRadiusSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius)
 
void EstimateNormalsFromCovariancesCPU (const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)
 
void EstimateColorGradientsUsingHybridSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius, const int64_t &max_nn)
 
void EstimateColorGradientsUsingKNNSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const int64_t &max_nn)
 
void EstimateColorGradientsUsingRadiusSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void GetCoordinateSystemOnPlane (const scalar_t *query, scalar_t *u, scalar_t *v)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void Swap (scalar_t *x, scalar_t *y)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void Heapify (scalar_t *arr, int n, int root)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void HeapSort (scalar_t *arr, int n)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE bool IsBoundaryPoints (const scalar_t *angles, int counts, double angle_threshold)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void EstimatePointWiseRobustNormalizedCovarianceKernel (const scalar_t *points_ptr, const int32_t *indices_ptr, const int32_t &indices_count, scalar_t *covariance_ptr)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void ComputeEigenvector0 (const scalar_t *A, const scalar_t eval0, scalar_t *eigen_vector0)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void ComputeEigenvector1 (const scalar_t *A, const scalar_t *evec0, const scalar_t eval1, scalar_t *eigen_vector1)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void EstimatePointWiseNormalsWithFastEigen3x3 (const scalar_t *covariance_ptr, scalar_t *normals_ptr)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void EstimatePointWiseColorGradientKernel (const scalar_t *points_ptr, const scalar_t *normals_ptr, const scalar_t *colors_ptr, const int32_t &idx_offset, const int32_t *indices_ptr, const int32_t &indices_count, scalar_t *color_gradients_ptr)
 

Function Documentation

◆ ComputeBoundaryPointsCPU()

void open3d::t::geometry::kernel::pointcloud::ComputeBoundaryPointsCPU ( const core::Tensor points,
const core::Tensor normals,
const core::Tensor indices,
const core::Tensor counts,
core::Tensor mask,
double  angle_threshold 
)

◆ ComputeEigenvector0()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::ComputeEigenvector0 ( const scalar_t *  A,
const scalar_t  eval0,
scalar_t *  eigen_vector0 
)

◆ ComputeEigenvector1()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::ComputeEigenvector1 ( const scalar_t *  A,
const scalar_t *  evec0,
const scalar_t  eval1,
scalar_t *  eigen_vector1 
)

◆ EstimateColorGradientsUsingHybridSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingHybridSearchCPU ( const core::Tensor points,
const core::Tensor normals,
const core::Tensor colors,
core::Tensor color_gradient,
const double &  radius,
const int64_t &  max_nn 
)

◆ EstimateColorGradientsUsingKNNSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingKNNSearchCPU ( const core::Tensor points,
const core::Tensor normals,
const core::Tensor colors,
core::Tensor color_gradient,
const int64_t &  max_nn 
)

◆ EstimateColorGradientsUsingRadiusSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingRadiusSearchCPU ( const core::Tensor points,
const core::Tensor normals,
const core::Tensor colors,
core::Tensor color_gradient,
const double &  radius 
)

◆ EstimateCovariancesUsingHybridSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingHybridSearchCPU ( const core::Tensor points,
core::Tensor covariances,
const double &  radius,
const int64_t &  max_nn 
)

◆ EstimateCovariancesUsingKNNSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingKNNSearchCPU ( const core::Tensor points,
core::Tensor covariances,
const int64_t &  max_nn 
)

◆ EstimateCovariancesUsingRadiusSearchCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateCovariancesUsingRadiusSearchCPU ( const core::Tensor points,
core::Tensor covariances,
const double &  radius 
)

◆ EstimateNormalsFromCovariancesCPU()

void open3d::t::geometry::kernel::pointcloud::EstimateNormalsFromCovariancesCPU ( const core::Tensor covariances,
core::Tensor normals,
const bool  has_normals 
)

◆ EstimatePointWiseColorGradientKernel()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseColorGradientKernel ( const scalar_t *  points_ptr,
const scalar_t *  normals_ptr,
const scalar_t *  colors_ptr,
const int32_t &  idx_offset,
const int32_t *  indices_ptr,
const int32_t &  indices_count,
scalar_t *  color_gradients_ptr 
)

◆ EstimatePointWiseNormalsWithFastEigen3x3()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseNormalsWithFastEigen3x3 ( const scalar_t *  covariance_ptr,
scalar_t *  normals_ptr 
)

◆ EstimatePointWiseRobustNormalizedCovarianceKernel()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::EstimatePointWiseRobustNormalizedCovarianceKernel ( const scalar_t *  points_ptr,
const int32_t *  indices_ptr,
const int32_t &  indices_count,
scalar_t *  covariance_ptr 
)

◆ GetCoordinateSystemOnPlane()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::GetCoordinateSystemOnPlane ( const scalar_t *  query,
scalar_t *  u,
scalar_t *  v 
)

◆ GetPointMaskWithinAABB()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinAABB ( const core::Tensor points,
const core::Tensor min_bound,
const core::Tensor max_bound,
core::Tensor mask 
)

◆ GetPointMaskWithinAABBCPU()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinAABBCPU ( const core::Tensor points,
const core::Tensor min_bound,
const core::Tensor max_bound,
core::Tensor mask 
)

◆ GetPointMaskWithinOBB()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinOBB ( const core::Tensor points,
const core::Tensor center,
const core::Tensor rotation,
const core::Tensor extent,
core::Tensor mask 
)

◆ GetPointMaskWithinOBBCPU()

void open3d::t::geometry::kernel::pointcloud::GetPointMaskWithinOBBCPU ( const core::Tensor points,
const core::Tensor center,
const core::Tensor rotation,
const core::Tensor extent,
core::Tensor mask 
)

◆ Heapify()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::Heapify ( scalar_t *  arr,
int  n,
int  root 
)
inline

◆ HeapSort()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::HeapSort ( scalar_t *  arr,
int  n 
)

◆ IsBoundaryPoints()

template<typename scalar_t >
OPEN3D_HOST_DEVICE bool open3d::t::geometry::kernel::pointcloud::IsBoundaryPoints ( const scalar_t *  angles,
int  counts,
double  angle_threshold 
)

◆ NormalizeNormalsCPU()

void open3d::t::geometry::kernel::pointcloud::NormalizeNormalsCPU ( core::Tensor normals)

◆ OrientNormalsToAlignWithDirectionCPU()

void open3d::t::geometry::kernel::pointcloud::OrientNormalsToAlignWithDirectionCPU ( core::Tensor normals,
const core::Tensor direction 
)

◆ OrientNormalsTowardsCameraLocationCPU()

void open3d::t::geometry::kernel::pointcloud::OrientNormalsTowardsCameraLocationCPU ( const core::Tensor points,
core::Tensor normals,
const core::Tensor camera 
)

◆ Project()

void open3d::t::geometry::kernel::pointcloud::Project ( core::Tensor depth,
utility::optional< std::reference_wrapper< core::Tensor >>  image_colors,
const core::Tensor points,
utility::optional< std::reference_wrapper< const core::Tensor >>  colors,
const core::Tensor intrinsics,
const core::Tensor extrinsics,
float  depth_scale,
float  depth_max 
)

◆ ProjectCPU()

void open3d::t::geometry::kernel::pointcloud::ProjectCPU ( core::Tensor depth,
utility::optional< std::reference_wrapper< core::Tensor >>  image_colors,
const core::Tensor points,
utility::optional< std::reference_wrapper< const core::Tensor >>  colors,
const core::Tensor intrinsics,
const core::Tensor extrinsics,
float  depth_scale,
float  depth_max 
)

◆ Swap()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::geometry::kernel::pointcloud::Swap ( scalar_t *  x,
scalar_t *  y 
)
inline

◆ Unproject()

void open3d::t::geometry::kernel::pointcloud::Unproject ( const core::Tensor depth,
utility::optional< std::reference_wrapper< const core::Tensor >>  image_colors,
core::Tensor points,
utility::optional< std::reference_wrapper< core::Tensor >>  colors,
const core::Tensor intrinsics,
const core::Tensor extrinsics,
float  depth_scale,
float  depth_max,
int64_t  stride 
)

◆ UnprojectCPU()

void open3d::t::geometry::kernel::pointcloud::UnprojectCPU ( const core::Tensor depth,
utility::optional< std::reference_wrapper< const core::Tensor >>  image_colors,
core::Tensor points,
utility::optional< std::reference_wrapper< core::Tensor >>  colors,
const core::Tensor intrinsics,
const core::Tensor extrinsics,
float  depth_scale,
float  depth_max,
int64_t  stride 
)