Open3D (C++ API)  0.17.0
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open3d::t::pipelines::kernel Namespace Reference

Namespaces

 odometry
 

Functions

void ComputeFPFHFeature (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &distance2, const core::Tensor &counts, core::Tensor &fpfhs)
 
void ComputeFPFHFeatureCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &distance2, const core::Tensor &counts, core::Tensor &fpfhs)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void ComputePairFeature (const scalar_t *p1, const scalar_t *n1, const scalar_t *p2, const scalar_t *n2, scalar_t *feature)
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void UpdateSPFHFeature (const scalar_t *feature, int64_t idx, scalar_t hist_incr, scalar_t *spfh)
 
void FillInRigidAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
 
void FillInSLACAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
 
void FillInSLACRegularizerTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
 
void FillInRigidAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
 
void FillInSLACAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
 
void FillInSLACRegularizerTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
 
core::Tensor ComputePosePointToPlane (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel)
 Computes pose for point to plane registration method. More...
 
core::Tensor ComputePoseColoredICP (const core::Tensor &source_positions, const core::Tensor &source_colors, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel, const double &lambda_geometric)
 Computes pose for colored-icp registration method. More...
 
std::tuple< core::Tensor, core::Tensor > ComputeRtPointToPoint (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
 Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method. More...
 
core::Tensor ComputeInformationMatrix (const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
 Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point cloud and correspondence indices w.r.t. target point cloud. Only target positions and correspondence indices are required. More...
 
void 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 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 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)
 
template<typename scalar_t >
void ComputeInformationMatrixKernelCPU (const scalar_t *target_points_ptr, const int64_t *correspondence_indices, const int n, scalar_t *global_sum)
 
void 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 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 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 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 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 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 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 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 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 GetInformationJacobians (int64_t workload_idx, const double *target_points_ptr, const int64_t *correspondence_indices, double *jacobian_x, double *jacobian_y, double *jacobian_z)
 
core::Tensor RtToTransformation (const core::Tensor &R, const core::Tensor &t)
 Convert rotation and translation to the transformation matrix. More...
 
core::Tensor PoseToTransformation (const core::Tensor &pose)
 Convert pose to the transformation matrix. More...
 
void DecodeAndSolve6x6 (const core::Tensor &A_reduction, core::Tensor &delta, float &inlier_residual, int &inlier_count)
 Decodes a 6x6 linear system from a compressed 29x1 tensor. More...
 
template<typename scalar_t >
OPEN3D_HOST_DEVICE void PoseToTransformationImpl (scalar_t *transformation_ptr, const scalar_t *pose_ptr)
 Shared implementation for PoseToTransformation function. More...
 

Function Documentation

◆ ComputeFPFHFeature()

void open3d::t::pipelines::kernel::ComputeFPFHFeature ( const core::Tensor &  points,
const core::Tensor &  normals,
const core::Tensor &  indices,
const core::Tensor &  distance2,
const core::Tensor &  counts,
core::Tensor &  fpfhs 
)

◆ ComputeFPFHFeatureCPU()

void open3d::t::pipelines::kernel::ComputeFPFHFeatureCPU ( const core::Tensor &  points,
const core::Tensor &  normals,
const core::Tensor &  indices,
const core::Tensor &  distance2,
const core::Tensor &  counts,
core::Tensor &  fpfhs 
)

◆ ComputeInformationMatrix()

core::Tensor open3d::t::pipelines::kernel::ComputeInformationMatrix ( const core::Tensor &  target_positions,
const core::Tensor &  correspondence_indices 
)

Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point cloud and correspondence indices w.r.t. target point cloud. Only target positions and correspondence indices are required.

Parameters
target_positionsThe target point positions.
correspondence_indicesTensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.

◆ ComputeInformationMatrixCPU()

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 
)

◆ ComputeInformationMatrixKernelCPU()

template<typename scalar_t >
void open3d::t::pipelines::kernel::ComputeInformationMatrixKernelCPU ( const scalar_t *  target_points_ptr,
const int64_t *  correspondence_indices,
const int  n,
scalar_t *  global_sum 
)

◆ ComputePairFeature()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::ComputePairFeature ( const scalar_t *  p1,
const scalar_t *  n1,
const scalar_t *  p2,
const scalar_t *  n2,
scalar_t *  feature 
)

◆ ComputePoseColoredICP()

core::Tensor open3d::t::pipelines::kernel::ComputePoseColoredICP ( const core::Tensor &  source_positions,
const core::Tensor &  source_colors,
const core::Tensor &  target_positions,
const core::Tensor &  target_normals,
const core::Tensor &  target_colors,
const core::Tensor &  target_color_gradients,
const core::Tensor &  correspondence_indices,
const registration::RobustKernel &  kernel,
const double &  lambda_geometric 
)

Computes pose for colored-icp registration method.

Parameters
source_positionssource point positions of Float32 or Float64 dtype.
source_colorssource point colors of same dtype as source point positions.
target_positionstarget point positions of same dtype as source point positions.
target_normalstarget point normals of same dtype as source point positions.
target_colorstarget point colors of same dtype as source point positions.
target_color_gradientstargets point color gradients of same dtype as source point positions.
correspondence_indicesTensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
kernelstatistical robust kernel for outlier rejection.
lambda_geometricλ ∈ [0,1] in the overall energy λEG + (1−λ)EC. Refer the documentation of Colored-ICP for more information.
Returns
Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float64, where alpha, beta, gamma are the Euler angles in the ZYX order.

◆ ComputePoseColoredICPCPU()

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 
)

◆ ComputePosePointToPlane()

core::Tensor open3d::t::pipelines::kernel::ComputePosePointToPlane ( const core::Tensor &  source_positions,
const core::Tensor &  target_positions,
const core::Tensor &  target_normals,
const core::Tensor &  correspondence_indices,
const registration::RobustKernel &  kernel 
)

Computes pose for point to plane registration method.

Parameters
source_positionssource point positions of Float32 or Float64 dtype.
target_positionstarget point positions of same dtype as source point positions.
target_normalstarget point normals of same dtype as source point positions.
correspondence_indicesTensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
kernelstatistical robust kernel for outlier rejection.
Returns
Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float64, where alpha, beta, gamma are the Euler angles in the ZYX order.

◆ ComputePosePointToPlaneCPU()

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 
)

◆ ComputeRtPointToPoint()

std::tuple< core::Tensor, core::Tensor > open3d::t::pipelines::kernel::ComputeRtPointToPoint ( const core::Tensor &  source_positions,
const core::Tensor &  target_positions,
const core::Tensor &  correspondence_indices 
)

Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method.

Parameters
source_positionssource point positions of Float32 or Float64 dtype.
target_positionstarget point positions of same dtype as source point positions.
correspondence_indicesTensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
Returns
tuple of (R, t). [Dtype: Float64].

◆ ComputeRtPointToPointCPU()

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 
)

◆ DecodeAndSolve6x6()

void open3d::t::pipelines::kernel::DecodeAndSolve6x6 ( const core::Tensor &  A_reduction,
core::Tensor &  delta,
float &  inlier_residual,
int &  inlier_count 
)

Decodes a 6x6 linear system from a compressed 29x1 tensor.

Parameters
A_reduction1x29 tensor storing a linear system, (21 for \(J^T J\) matrix, 6 for \(J^T r\), 1 for residual, 1 for inlier count).
delta6d tensor for a se3 tangent vector.
inlier_residualFloat residual for the inliers.
inlier_countInt number of inliers.

◆ FillInRigidAlignmentTerm()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTerm ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  Ti_ps,
const core::Tensor &  Tj_qs,
const core::Tensor &  Ri_normal_ps,
int  i,
int  j,
float  threshold 
)

◆ FillInRigidAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTermCPU ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  Ti_qs,
const core::Tensor &  Tj_qs,
const core::Tensor &  Ri_normal_ps,
int  i,
int  j,
float  threshold 
)

◆ FillInSLACAlignmentTerm()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTerm ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  Ti_ps,
const core::Tensor &  Tj_qs,
const core::Tensor &  normal_ps,
const core::Tensor &  Ri_normal_ps,
const core::Tensor &  RjT_Ri_normal_ps,
const core::Tensor &  cgrid_idx_ps,
const core::Tensor &  cgrid_idx_qs,
const core::Tensor &  cgrid_ratio_qs,
const core::Tensor &  cgrid_ratio_ps,
int  i,
int  j,
int  n,
float  threshold 
)

◆ FillInSLACAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTermCPU ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  Ti_qs,
const core::Tensor &  Tj_qs,
const core::Tensor &  normal_ps,
const core::Tensor &  Ri_normal_ps,
const core::Tensor &  RjT_Ri_normal_ps,
const core::Tensor &  cgrid_idx_ps,
const core::Tensor &  cgrid_idx_qs,
const core::Tensor &  cgrid_ratio_qs,
const core::Tensor &  cgrid_ratio_ps,
int  i,
int  j,
int  n,
float  threshold 
)

◆ FillInSLACRegularizerTerm()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTerm ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  grid_idx,
const core::Tensor &  grid_nbs_idx,
const core::Tensor &  grid_nbs_mask,
const core::Tensor &  positions_init,
const core::Tensor &  positions_curr,
float  weight,
int  n,
int  anchor_idx 
)

◆ FillInSLACRegularizerTermCPU()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTermCPU ( core::Tensor &  AtA,
core::Tensor &  Atb,
core::Tensor &  residual,
const core::Tensor &  grid_idx,
const core::Tensor &  grid_nbs_idx,
const core::Tensor &  grid_nbs_mask,
const core::Tensor &  positions_init,
const core::Tensor &  positions_curr,
float  weight,
int  n,
int  anchor_idx 
)

◆ GetInformationJacobians() [1/3]

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 
)

◆ GetInformationJacobians() [2/3]

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 
)

◆ GetInformationJacobians() [3/3]

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 
)
inline

◆ GetJacobianColoredICP() [1/3]

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 
)

◆ GetJacobianColoredICP() [2/3]

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 
)

◆ GetJacobianColoredICP() [3/3]

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 
)
inline

◆ GetJacobianPointToPlane() [1/3]

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 
)

◆ GetJacobianPointToPlane() [2/3]

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 
)

◆ GetJacobianPointToPlane() [3/3]

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 
)
inline

◆ PoseToTransformation()

core::Tensor open3d::t::pipelines::kernel::PoseToTransformation ( const core::Tensor &  pose)

Convert pose to the transformation matrix.

Parameters
posePose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float32, where alpha, beta, gamma are the Euler angles in the ZYX order.
Returns
Transformation, a tensor of shape {4, 4}, dtype and device same as pose.

◆ PoseToTransformationImpl()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::PoseToTransformationImpl ( scalar_t *  transformation_ptr,
const scalar_t *  pose_ptr 
)
inline

Shared implementation for PoseToTransformation function.

◆ RtToTransformation()

core::Tensor open3d::t::pipelines::kernel::RtToTransformation ( const core::Tensor &  R,
const core::Tensor &  t 
)

Convert rotation and translation to the transformation matrix.

Parameters
RRotation, a tensor of shape {3, 3}.
tTranslation, a tensor of shape {3,}.
Returns
Transformation, a tensor of shape {4, 4}, dtype and device same as R and t.

◆ UpdateSPFHFeature()

template<typename scalar_t >
OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::UpdateSPFHFeature ( const scalar_t *  feature,
int64_t  idx,
scalar_t  hist_incr,
scalar_t *  spfh 
)
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