VoxelBlockGridCPU.cpp File Reference

(b9e049c (Sun Dec 31 11:36:26 2023 -0800))

#include <tbb/concurrent_unordered_set.h>
#include "open3d/core/Dispatch.h"
#include "open3d/core/Dtype.h"
#include "open3d/core/MemoryManager.h"
#include "open3d/core/ParallelFor.h"
#include "open3d/core/SizeVector.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/hashmap/CPU/TBBHashBackend.h"
#include "open3d/core/hashmap/Dispatch.h"
#include "open3d/t/geometry/kernel/GeometryIndexer.h"
#include "open3d/t/geometry/kernel/GeometryMacros.h"
#include "open3d/t/geometry/kernel/VoxelBlockGrid.h"
#include "open3d/t/geometry/kernel/VoxelBlockGridImpl.h"
#include "open3d/utility/Logging.h"

Data Structures
struct	open3d::t::geometry::kernel::voxel_grid::Coord3i
struct	open3d::t::geometry::kernel::voxel_grid::Coord3iHash

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

Macros
#define	FN_ARGUMENTS
#define	FN_ARGUMENTS
#define	FN_ARGUMENTS
#define	FN_ARGUMENTS

Functions
void	open3d::t::geometry::kernel::voxel_grid::PointCloudTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
	CPU. More...
void	open3d::t::geometry::kernel::voxel_grid::DepthTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
template void	open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, float, float > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, float, float > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, float, float > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, float, float > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
template void	open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, float, float > (FN_ARGUMENTS)

Macro Definition Documentation

FN_ARGUMENTS [1/4]

#define FN_ARGUMENTS

Value:

    const core::Tensor &depth, const core::Tensor &color,                     \
            const core::Tensor &indices, const core::Tensor &block_keys,      \
            TensorMap &value_tensor_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

FN_ARGUMENTS [2/4]

#define FN_ARGUMENTS

Value:

    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

FN_ARGUMENTS [3/4]

#define FN_ARGUMENTS

Value:

    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

FN_ARGUMENTS [4/4]

#define FN_ARGUMENTS

Value:

    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