Open3D (C++ API)
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Namespaces | |
filesystem | |
hash_eigen | |
hash_tuple | |
Data Structures | |
class | FPSTimer |
class | IJsonConvertible |
class | ScopeTimer |
class | Timer |
Typedefs | |
using | Matrix4d_allocator = Eigen::aligned_allocator< Eigen::Matrix4d > |
using | Matrix6d_allocator = Eigen::aligned_allocator< Eigen::Matrix6d > |
using | Vector2d_allocator = Eigen::aligned_allocator< Eigen::Vector2d > |
using | Vector4i_allocator = Eigen::aligned_allocator< Eigen::Vector4i > |
using | Vector4d_allocator = Eigen::aligned_allocator< Eigen::Vector4d > |
using | Vector6d_allocator = Eigen::aligned_allocator< Eigen::Vector6d > |
Enumerations | |
enum | VerbosityLevel { VerbosityLevel::VerboseError = 0, VerbosityLevel::VerboseWarning = 1, VerbosityLevel::VerboseInfo = 2, VerbosityLevel::VerboseDebug = 3, VerbosityLevel::VerboseAlways = 4 } |
Functions | |
void | SetVerbosityLevel (VerbosityLevel verbosity_level) |
VerbosityLevel | GetVerbosityLevel () |
void | PrintError (const char *format,...) |
void | PrintWarning (const char *format,...) |
void | PrintInfo (const char *format,...) |
void | PrintDebug (const char *format,...) |
void | PrintAlways (const char *format,...) |
void | ResetConsoleProgress (const int64_t expected_count, const std::string &progress_info) |
void | AdvanceConsoleProgress () |
std::string | GetCurrentTimeStamp () |
std::string | GetProgramOptionAsString (int argc, char **argv, const std::string &option, const std::string &default_value) |
int | GetProgramOptionAsInt (int argc, char **argv, const std::string &option, const int default_value) |
double | GetProgramOptionAsDouble (int argc, char **argv, const std::string &option, const double default_value) |
Eigen::VectorXd | GetProgramOptionAsEigenVectorXd (int argc, char **argv, const std::string &option, const Eigen::VectorXd default_value) |
bool | ProgramOptionExists (int argc, char **argv, const std::string &option) |
bool | ProgramOptionExistsAny (int argc, char **argv, const std::vector< std::string > &options) |
std::tuple< bool, Eigen::VectorXd > | SolveLinearSystemPSD (const Eigen::MatrixXd &A, const Eigen::VectorXd &b, bool prefer_sparse, bool check_symmetric, bool check_det, bool check_psd) |
Function to solve Ax=b. More... | |
Eigen::Matrix4d | TransformVector6dToMatrix4d (const Eigen::Vector6d &input) |
Eigen::Vector6d | TransformMatrix4dToVector6d (const Eigen::Matrix4d &input) |
std::tuple< bool, Eigen::Matrix4d > | SolveJacobianSystemAndObtainExtrinsicMatrix (const Eigen::Matrix6d &JTJ, const Eigen::Vector6d &JTr) |
std::tuple< bool, std::vector< Eigen::Matrix4d, Matrix4d_allocator > > | SolveJacobianSystemAndObtainExtrinsicMatrixArray (const Eigen::MatrixXd &JTJ, const Eigen::VectorXd &JTr) |
template<typename MatType , typename VecType > | |
std::tuple< MatType, VecType, double > | ComputeJTJandJTr (std::function< void(int, VecType &, double &)> f, int iteration_num, bool verbose) |
template<typename MatType , typename VecType > | |
std::tuple< MatType, VecType, double > | ComputeJTJandJTr (std::function< void(int, std::vector< VecType, Eigen::aligned_allocator< VecType >> &, std::vector< double > &)> f, int iteration_num, bool verbose) |
template std::tuple< Eigen::Matrix6d, Eigen::Vector6d, double > | ComputeJTJandJTr (std::function< void(int, Eigen::Vector6d &, double &)> f, int iteration_num, bool verbose) |
template std::tuple< Eigen::Matrix6d, Eigen::Vector6d, double > | ComputeJTJandJTr (std::function< void(int, std::vector< Eigen::Vector6d, Vector6d_allocator > &, std::vector< double > &)> f, int iteration_num, bool verbose) |
Eigen::Matrix3d | RotationMatrixX (double radians) |
Eigen::Matrix3d | RotationMatrixY (double radians) |
Eigen::Matrix3d | RotationMatrixZ (double radians) |
void | SplitString (std::vector< std::string > &tokens, const std::string &str, const std::string &delimiters, bool trim_empty_str) |
std::string | StripString (const std::string &s, const std::string &white_space) |
size_t | WordLength (const std::string &doc, size_t start_pos, const std::string &valid_chars) |
using open3d::utility::Matrix4d_allocator = typedef Eigen::aligned_allocator<Eigen::Matrix4d> |
using open3d::utility::Matrix6d_allocator = typedef Eigen::aligned_allocator<Eigen::Matrix6d> |
using open3d::utility::Vector2d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector2d> |
using open3d::utility::Vector4d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector4d> |
using open3d::utility::Vector4i_allocator = typedef Eigen::aligned_allocator<Eigen::Vector4i> |
using open3d::utility::Vector6d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector6d> |
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void open3d::utility::AdvanceConsoleProgress | ( | ) |
std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr | ( | std::function< void(int, VecType &, double &)> | f, |
int | iteration_num, | ||
bool | verbose = true |
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) |
Function to compute JTJ and Jtr Input: function pointer f and total number of rows of Jacobian matrix Output: JTJ, JTr, sum of r^2 Note: f takes index of row, and outputs corresponding residual and row vector.
std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr | ( | ) |
Function to compute JTJ and Jtr Input: function pointer f and total number of rows of Jacobian matrix Output: JTJ, JTr, sum of r^2 Note: f takes index of row, and outputs corresponding residual and row vector.
template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr | ( | std::function< void(int, Eigen::Vector6d &, double &)> | f, |
int | iteration_num, | ||
bool | verbose | ||
) |
template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr | ( | std::function< void(int, std::vector< Eigen::Vector6d, Vector6d_allocator > &, std::vector< double > &)> | f, |
int | iteration_num, | ||
bool | verbose | ||
) |
std::string open3d::utility::GetCurrentTimeStamp | ( | ) |
double open3d::utility::GetProgramOptionAsDouble | ( | int | argc, |
char ** | argv, | ||
const std::string & | option, | ||
const double | default_value | ||
) |
Eigen::VectorXd open3d::utility::GetProgramOptionAsEigenVectorXd | ( | int | argc, |
char ** | argv, | ||
const std::string & | option, | ||
const Eigen::VectorXd | default_value | ||
) |
int open3d::utility::GetProgramOptionAsInt | ( | int | argc, |
char ** | argv, | ||
const std::string & | option, | ||
const int | default_value | ||
) |
std::string open3d::utility::GetProgramOptionAsString | ( | int | argc, |
char ** | argv, | ||
const std::string & | option, | ||
const std::string & | default_value | ||
) |
VerbosityLevel open3d::utility::GetVerbosityLevel | ( | ) |
void open3d::utility::PrintAlways | ( | const char * | format, |
... | |||
) |
void open3d::utility::PrintDebug | ( | const char * | format, |
... | |||
) |
void open3d::utility::PrintError | ( | const char * | format, |
... | |||
) |
void open3d::utility::PrintInfo | ( | const char * | format, |
... | |||
) |
void open3d::utility::PrintWarning | ( | const char * | format, |
... | |||
) |
bool open3d::utility::ProgramOptionExists | ( | int | argc, |
char ** | argv, | ||
const std::string & | option | ||
) |
bool open3d::utility::ProgramOptionExistsAny | ( | int | argc, |
char ** | argv, | ||
const std::vector< std::string > & | options | ||
) |
void open3d::utility::ResetConsoleProgress | ( | const int64_t | expected_count, |
const std::string & | progress_info | ||
) |
Eigen::Matrix3d open3d::utility::RotationMatrixX | ( | double | radians | ) |
Eigen::Matrix3d open3d::utility::RotationMatrixY | ( | double | radians | ) |
Eigen::Matrix3d open3d::utility::RotationMatrixZ | ( | double | radians | ) |
void open3d::utility::SetVerbosityLevel | ( | VerbosityLevel | verbosity_level | ) |
std::tuple< bool, Eigen::Matrix4d > open3d::utility::SolveJacobianSystemAndObtainExtrinsicMatrix | ( | const Eigen::Matrix6d & | JTJ, |
const Eigen::Vector6d & | JTr | ||
) |
Function to solve Jacobian system Input: 6x6 Jacobian matrix and 6-dim residual vector. Output: tuple of is_success, 4x4 extrinsic matrices.
std::tuple< bool, std::vector< Eigen::Matrix4d, Matrix4d_allocator > > open3d::utility::SolveJacobianSystemAndObtainExtrinsicMatrixArray | ( | const Eigen::MatrixXd & | JTJ, |
const Eigen::VectorXd & | JTr | ||
) |
Function to solve Jacobian system Input: 6nx6n Jacobian matrix and 6n-dim residual vector. Output: tuple of is_success, n 4x4 motion matrices.
std::tuple< bool, Eigen::VectorXd > open3d::utility::SolveLinearSystemPSD | ( | const Eigen::MatrixXd & | A, |
const Eigen::VectorXd & | b, | ||
bool | prefer_sparse, | ||
bool | check_symmetric, | ||
bool | check_det, | ||
bool | check_psd | ||
) |
Function to solve Ax=b.
void open3d::utility::SplitString | ( | std::vector< std::string > & | tokens, |
const std::string & | str, | ||
const std::string & | delimiters = " " , |
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bool | trim_empty_str = true |
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) |
Function to split a string, mimics boost::split http://stackoverflow.com/questions/236129/split-a-string-in-c
std::string open3d::utility::StripString | ( | const std::string & | s, |
const std::string & | white_space = " \\" |
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) |
Strip empty charactors in front and after string. Similar to Python's str.strip()
Eigen::Vector6d open3d::utility::TransformMatrix4dToVector6d | ( | const Eigen::Matrix4d & | input | ) |
Function to transform 4D motion matrix to 6D motion vector this is consistent with the matlab function in the Aerospace Toolbox Reference: https://github.com/qianyizh/ElasticReconstruction/blob/master/Matlab_Toolbox/Core/mrEvaluateRegistration.m
Eigen::Matrix4d open3d::utility::TransformVector6dToMatrix4d | ( | const Eigen::Vector6d & | input | ) |
Function to transform 6D motion vector to 4D motion matrix Reference: https://eigen.tuxfamily.org/dox/group__TutorialGeometry.html#TutorialGeoTransform
size_t open3d::utility::WordLength | ( | const std::string & | doc, |
size_t | start_pos, | ||
const std::string & | valid_chars = "_" |
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) |
String util: find length of current word staring from a position By default, alpha numeric chars and chars in valid_chars are considered as valid charactors in a word